id	sid	tid	token	lemma	pos
aiti-4139	1	1	template	template	NOUN
aiti-4139	1	2	encit2010	encit2010	PROPN
aiti-4139	1	3	advances	advance	VERB
aiti-4139	1	4	technology	technology	NOUN
aiti-4139	1	5	innovation	innovation	NOUN
aiti-4139	1	6	,	,	PUNCT
aiti-4139	1	7	vol	vol	NOUN
aiti-4139	1	8	.	.	PROPN
aiti-4139	1	9	4	4	NUM
aiti-4139	1	10	,	,	PUNCT
aiti-4139	1	11	no	no	INTJ
aiti-4139	1	12	.	.	NOUN
aiti-4139	1	13	4	4	NUM
aiti-4139	1	14	,	,	PUNCT
aiti-4139	1	15	2019	2019	NUM
aiti-4139	1	16	,	,	PUNCT
aiti-4139	1	17	pp	pp	ADJ
aiti-4139	1	18	.	.	PUNCT
aiti-4139	2	1	234	234	NUM
aiti-4139	2	2	-	-	SYM
aiti-4139	2	3	246	246	NUM
aiti-4139	2	4	consensus	consensus	NOUN
aiti-4139	2	5	via	via	ADP
aiti-4139	2	6	adaptive	adaptive	ADJ
aiti-4139	2	7	gain	gain	NOUN
aiti-4139	2	8	controllers	controller	NOUN
aiti-4139	2	9	considering	consider	VERB
aiti-4139	2	10	relative	relative	ADJ
aiti-4139	2	11	distances	distance	NOUN
aiti-4139	2	12	for	for	ADP
aiti-4139	2	13	multi	multi	ADJ
aiti-4139	2	14	-	-	ADJ
aiti-4139	2	15	agent	agent	ADJ
aiti-4139	2	16	systems	system	NOUN
aiti-4139	2	17	shun	shun	PROPN
aiti-4139	2	18	ito	ito	PROPN
aiti-4139	2	19	1	1	NUM
aiti-4139	2	20	,	,	PUNCT
aiti-4139	2	21	*	*	PUNCT
aiti-4139	2	22	,	,	PUNCT
aiti-4139	2	23	kazuki	kazuki	PROPN
aiti-4139	2	24	miyakoshi	miyakoshi	PROPN
aiti-4139	2	25	1	1	NUM
aiti-4139	2	26	,	,	PUNCT
aiti-4139	2	27	hidetoshi	hidetoshi	ADJ
aiti-4139	2	28	oya	oya	ADJ
aiti-4139	2	29	1	1	NUM
aiti-4139	2	30	,	,	PUNCT
aiti-4139	2	31	yoshikatsu	yoshikatsu	PROPN
aiti-4139	2	32	hoshi	hoshi	PROPN
aiti-4139	2	33	1	1	NUM
aiti-4139	2	34	,	,	PUNCT
aiti-4139	2	35	shunya	shunya	NOUN
aiti-4139	2	36	nagai	nagai	PROPN
aiti-4139	2	37	2	2	NUM
aiti-4139	2	38	1	1	NUM
aiti-4139	2	39	graduate	graduate	NOUN
aiti-4139	2	40	school	school	NOUN
aiti-4139	2	41	of	of	ADP
aiti-4139	2	42	integrative	integrative	ADJ
aiti-4139	2	43	science	science	NOUN
aiti-4139	2	44	and	and	CCONJ
aiti-4139	2	45	engineering	engineering	NOUN
aiti-4139	2	46	,	,	PUNCT
aiti-4139	2	47	tokyo	tokyo	PROPN
aiti-4139	2	48	city	city	NOUN
aiti-4139	2	49	university	university	PROPN
aiti-4139	2	50	,	,	PUNCT
aiti-4139	2	51	tokyo	tokyo	PROPN
aiti-4139	2	52	,	,	PUNCT
aiti-4139	2	53	japan	japan	PROPN
aiti-4139	2	54	2	2	NUM
aiti-4139	2	55	department	department	NOUN
aiti-4139	2	56	of	of	ADP
aiti-4139	2	57	information	information	NOUN
aiti-4139	2	58	systems	system	NOUN
aiti-4139	2	59	creation	creation	NOUN
aiti-4139	2	60	,	,	PUNCT
aiti-4139	2	61	kanagawa	kanagawa	PROPN
aiti-4139	2	62	university	university	PROPN
aiti-4139	2	63	,	,	PUNCT
aiti-4139	2	64	kanagawa	kanagawa	PROPN
aiti-4139	2	65	,	,	PUNCT
aiti-4139	2	66	japan	japan	PROPN
aiti-4139	2	67	received	receive	VERB
aiti-4139	2	68	25	25	NUM
aiti-4139	2	69	april	april	PROPN
aiti-4139	2	70	2019	2019	NUM
aiti-4139	2	71	;	;	PUNCT
aiti-4139	2	72	received	receive	VERB
aiti-4139	2	73	in	in	ADP
aiti-4139	2	74	revised	revise	VERB
aiti-4139	2	75	form	form	NOUN
aiti-4139	2	76	11	11	NUM
aiti-4139	2	77	june	june	PROPN
aiti-4139	2	78	2019	2019	NUM
aiti-4139	2	79	;	;	PUNCT
aiti-4139	2	80	accepted	accept	VERB
aiti-4139	2	81	28	28	NUM
aiti-4139	2	82	july	july	PROPN
aiti-4139	2	83	2019	2019	NUM
aiti-4139	2	84	abstract	abstract	NOUN
aiti-4139	2	85	in	in	ADP
aiti-4139	2	86	this	this	DET
aiti-4139	2	87	paper	paper	NOUN
aiti-4139	2	88	,	,	PUNCT
aiti-4139	2	89	for	for	ADP
aiti-4139	2	90	multi	multi	ADJ
aiti-4139	2	91	-	-	ADJ
aiti-4139	2	92	agent	agent	ADJ
aiti-4139	2	93	systems	system	NOUN
aiti-4139	2	94	(	(	PUNCT
aiti-4139	2	95	mass	mass	PROPN
aiti-4139	2	96	)	)	PUNCT
aiti-4139	2	97	with	with	ADP
aiti-4139	2	98	leader	leader	NOUN
aiti-4139	2	99	-	-	PUNCT
aiti-4139	2	100	follower	follower	NOUN
aiti-4139	2	101	structures	structure	NOUN
aiti-4139	2	102	,	,	PUNCT
aiti-4139	2	103	we	we	PRON
aiti-4139	2	104	present	present	VERB
aiti-4139	2	105	a	a	DET
aiti-4139	2	106	linear	linear	ADJ
aiti-4139	2	107	matrix	matrix	NOUN
aiti-4139	2	108	inequality	inequality	NOUN
aiti-4139	2	109	(	(	PUNCT
aiti-4139	2	110	lmi)-based	lmi)-base	VERB
aiti-4139	2	111	design	design	NOUN
aiti-4139	2	112	method	method	NOUN
aiti-4139	2	113	of	of	ADP
aiti-4139	2	114	an	an	DET
aiti-4139	2	115	adaptive	adaptive	ADJ
aiti-4139	2	116	gain	gain	NOUN
aiti-4139	2	117	controller	controller	NOUN
aiti-4139	2	118	considering	consider	VERB
aiti-4139	2	119	relative	relative	ADJ
aiti-4139	2	120	distances	distance	NOUN
aiti-4139	2	121	between	between	ADP
aiti-4139	2	122	agents	agent	NOUN
aiti-4139	2	123	.	.	PUNCT
aiti-4139	3	1	the	the	DET
aiti-4139	3	2	proposed	propose	VERB
aiti-4139	3	3	adaptive	adaptive	ADJ
aiti-4139	3	4	gain	gain	NOUN
aiti-4139	3	5	controller	controller	NOUN
aiti-4139	3	6	consists	consist	VERB
aiti-4139	3	7	of	of	ADP
aiti-4139	3	8	fixed	fix	VERB
aiti-4139	3	9	gains	gain	NOUN
aiti-4139	3	10	and	and	CCONJ
aiti-4139	3	11	variable	variable	ADJ
aiti-4139	3	12	ones	one	NOUN
aiti-4139	3	13	tuned	tune	VERB
aiti-4139	3	14	by	by	ADP
aiti-4139	3	15	time	time	NOUN
aiti-4139	3	16	-	-	PUNCT
aiti-4139	3	17	varying	vary	VERB
aiti-4139	3	18	adjustable	adjustable	ADJ
aiti-4139	3	19	parameters	parameter	NOUN
aiti-4139	3	20	.	.	PUNCT
aiti-4139	4	1	the	the	DET
aiti-4139	4	2	objective	objective	NOUN
aiti-4139	4	3	of	of	ADP
aiti-4139	4	4	this	this	DET
aiti-4139	4	5	paper	paper	NOUN
aiti-4139	4	6	is	be	AUX
aiti-4139	4	7	to	to	PART
aiti-4139	4	8	derive	derive	VERB
aiti-4139	4	9	enough	enough	ADJ
aiti-4139	4	10	conditions	condition	NOUN
aiti-4139	4	11	for	for	ADP
aiti-4139	4	12	the	the	DET
aiti-4139	4	13	existence	existence	NOUN
aiti-4139	4	14	of	of	ADP
aiti-4139	4	15	the	the	DET
aiti-4139	4	16	proposed	propose	VERB
aiti-4139	4	17	adaptive	adaptive	ADJ
aiti-4139	4	18	gain	gain	NOUN
aiti-4139	4	19	controller	controller	NOUN
aiti-4139	4	20	which	which	PRON
aiti-4139	4	21	achieves	achieve	VERB
aiti-4139	4	22	consensus	consensus	NOUN
aiti-4139	4	23	for	for	ADP
aiti-4139	4	24	each	each	DET
aiti-4139	4	25	agent	agent	NOUN
aiti-4139	4	26	.	.	PUNCT
aiti-4139	5	1	the	the	DET
aiti-4139	5	2	advantages	advantage	NOUN
aiti-4139	5	3	of	of	ADP
aiti-4139	5	4	the	the	DET
aiti-4139	5	5	proposed	propose	VERB
aiti-4139	5	6	adaptive	adaptive	ADJ
aiti-4139	5	7	gain	gain	NOUN
aiti-4139	5	8	controller	controller	NOUN
aiti-4139	5	9	are	be	AUX
aiti-4139	5	10	as	as	SCONJ
aiti-4139	5	11	follows	follow	VERB
aiti-4139	5	12	;	;	PUNCT
aiti-4139	5	13	the	the	DET
aiti-4139	5	14	proposed	propose	VERB
aiti-4139	5	15	controller	controller	NOUN
aiti-4139	5	16	can	can	AUX
aiti-4139	5	17	be	be	AUX
aiti-4139	5	18	obtained	obtain	VERB
aiti-4139	5	19	by	by	ADP
aiti-4139	5	20	solving	solve	VERB
aiti-4139	5	21	lmi	lmi	PROPN
aiti-4139	5	22	,	,	PUNCT
aiti-4139	5	23	and	and	CCONJ
aiti-4139	5	24	the	the	DET
aiti-4139	5	25	proposed	propose	VERB
aiti-4139	5	26	control	control	NOUN
aiti-4139	5	27	system	system	NOUN
aiti-4139	5	28	can	can	AUX
aiti-4139	5	29	achieve	achieve	VERB
aiti-4139	5	30	consensus	consensus	NOUN
aiti-4139	5	31	and	and	CCONJ
aiti-4139	5	32	formation	formation	NOUN
aiti-4139	5	33	control	control	NOUN
aiti-4139	5	34	,	,	PUNCT
aiti-4139	5	35	even	even	ADV
aiti-4139	5	36	if	if	SCONJ
aiti-4139	5	37	uncertainties	uncertainty	NOUN
aiti-4139	5	38	are	be	AUX
aiti-4139	5	39	included	include	VERB
aiti-4139	5	40	in	in	ADP
aiti-4139	5	41	the	the	DET
aiti-4139	5	42	information	information	NOUN
aiti-4139	5	43	for	for	ADP
aiti-4139	5	44	relative	relative	ADJ
aiti-4139	5	45	distances	distance	NOUN
aiti-4139	5	46	.	.	PUNCT
aiti-4139	6	1	in	in	ADP
aiti-4139	6	2	this	this	DET
aiti-4139	6	3	paper	paper	NOUN
aiti-4139	6	4	,	,	PUNCT
aiti-4139	6	5	we	we	PRON
aiti-4139	6	6	show	show	VERB
aiti-4139	6	7	that	that	SCONJ
aiti-4139	6	8	the	the	DET
aiti-4139	6	9	design	design	NOUN
aiti-4139	6	10	problem	problem	NOUN
aiti-4139	6	11	of	of	ADP
aiti-4139	6	12	the	the	DET
aiti-4139	6	13	proposed	propose	VERB
aiti-4139	6	14	adaptive	adaptive	ADJ
aiti-4139	6	15	gain	gain	NOUN
aiti-4139	6	16	controller	controller	NOUN
aiti-4139	6	17	can	can	AUX
aiti-4139	6	18	be	be	AUX
aiti-4139	6	19	reduced	reduce	VERB
aiti-4139	6	20	to	to	ADP
aiti-4139	6	21	the	the	DET
aiti-4139	6	22	solvability	solvability	NOUN
aiti-4139	6	23	of	of	ADP
aiti-4139	6	24	lmi	lmi	PROPN
aiti-4139	6	25	.	.	PUNCT
aiti-4139	7	1	finally	finally	ADV
aiti-4139	7	2	,	,	PUNCT
aiti-4139	7	3	simple	simple	ADJ
aiti-4139	7	4	numerical	numerical	ADJ
aiti-4139	7	5	examples	example	NOUN
aiti-4139	7	6	are	be	AUX
aiti-4139	7	7	included	include	VERB
aiti-4139	7	8	to	to	PART
aiti-4139	7	9	illustrate	illustrate	VERB
aiti-4139	7	10	the	the	DET
aiti-4139	7	11	effectiveness	effectiveness	NOUN
aiti-4139	7	12	of	of	ADP
aiti-4139	7	13	the	the	DET
aiti-4139	7	14	proposed	propose	VERB
aiti-4139	7	15	adaptive	adaptive	ADJ
aiti-4139	7	16	gain	gain	NOUN
aiti-4139	7	17	controller	controller	NOUN
aiti-4139	7	18	for	for	ADP
aiti-4139	7	19	mass	mass	NOUN
aiti-4139	7	20	.	.	PUNCT
aiti-4139	8	1	keywords	keyword	NOUN
aiti-4139	8	2	:	:	PUNCT
aiti-4139	8	3	multi	multi	ADJ
aiti-4139	8	4	-	-	ADJ
aiti-4139	8	5	agent	agent	ADJ
aiti-4139	8	6	systems	system	NOUN
aiti-4139	8	7	(	(	PUNCT
aiti-4139	8	8	mass	mass	PROPN
aiti-4139	8	9	)	)	PUNCT
aiti-4139	8	10	,	,	PUNCT
aiti-4139	8	11	consensus	consensus	NOUN
aiti-4139	8	12	,	,	PUNCT
aiti-4139	8	13	relative	relative	ADJ
aiti-4139	8	14	distance	distance	NOUN
aiti-4139	8	15	,	,	PUNCT
aiti-4139	8	16	adaptive	adaptive	ADJ
aiti-4139	8	17	gain	gain	NOUN
aiti-4139	8	18	controller	controller	NOUN
aiti-4139	8	19	,	,	PUNCT
aiti-4139	8	20	linear	linear	ADJ
aiti-4139	8	21	matrix	matrix	NOUN
aiti-4139	8	22	inequality	inequality	NOUN
aiti-4139	8	23	(	(	PUNCT
aiti-4139	8	24	lmi	lmi	PROPN
aiti-4139	8	25	)	)	PUNCT
aiti-4139	8	26	1	1	NUM
aiti-4139	8	27	.	.	PUNCT
aiti-4139	8	28	introduction	introduction	NOUN
aiti-4139	8	29	when	when	SCONJ
aiti-4139	8	30	we	we	PRON
aiti-4139	8	31	consider	consider	VERB
aiti-4139	8	32	designing	design	VERB
aiti-4139	8	33	control	control	NOUN
aiti-4139	8	34	systems	system	NOUN
aiti-4139	8	35	for	for	ADP
aiti-4139	8	36	dynamical	dynamical	ADJ
aiti-4139	8	37	systems	system	NOUN
aiti-4139	8	38	,	,	PUNCT
aiti-4139	8	39	it	it	PRON
aiti-4139	8	40	is	be	AUX
aiti-4139	8	41	necessary	necessary	ADJ
aiti-4139	8	42	to	to	PART
aiti-4139	8	43	derive	derive	VERB
aiti-4139	8	44	a	a	DET
aiti-4139	8	45	mathematical	mathematical	ADJ
aiti-4139	8	46	model	model	NOUN
aiti-4139	8	47	for	for	ADP
aiti-4139	8	48	the	the	DET
aiti-4139	8	49	controlled	control	VERB
aiti-4139	8	50	system	system	NOUN
aiti-4139	8	51	,	,	PUNCT
aiti-4139	8	52	and	and	CCONJ
aiti-4139	8	53	one	one	PRON
aiti-4139	8	54	can	can	AUX
aiti-4139	8	55	see	see	VERB
aiti-4139	8	56	that	that	SCONJ
aiti-4139	8	57	optimal	optimal	ADJ
aiti-4139	8	58	control	control	NOUN
aiti-4139	8	59	is	be	AUX
aiti-4139	8	60	well	well	ADV
aiti-4139	8	61	known	known	ADJ
aiti-4139	8	62	to	to	PART
aiti-4139	8	63	be	be	AUX
aiti-4139	8	64	a	a	DET
aiti-4139	8	65	powerful	powerful	ADJ
aiti-4139	8	66	strategy	strategy	NOUN
aiti-4139	8	67	in	in	ADP
aiti-4139	8	68	modern	modern	ADJ
aiti-4139	8	69	control	control	NOUN
aiti-4139	8	70	theory	theory	NOUN
aiti-4139	8	71	.	.	PUNCT
aiti-4139	9	1	lq	lq	NOUN
aiti-4139	9	2	regulator	regulator	NOUN
aiti-4139	9	3	for	for	ADP
aiti-4139	9	4	linear	linear	PROPN
aiti-4139	9	5	systems	system	NOUN
aiti-4139	9	6	is	be	AUX
aiti-4139	9	7	a	a	DET
aiti-4139	9	8	typical	typical	ADJ
aiti-4139	9	9	controller	controller	NOUN
aiti-4139	9	10	,	,	PUNCT
aiti-4139	9	11	and	and	CCONJ
aiti-4139	9	12	it	it	PRON
aiti-4139	9	13	ensures	ensure	VERB
aiti-4139	9	14	asymptotical	asymptotical	ADJ
aiti-4139	9	15	stability	stability	NOUN
aiti-4139	9	16	for	for	ADP
aiti-4139	9	17	closed	closed	ADJ
aiti-4139	9	18	-	-	PUNCT
aiti-4139	9	19	loop	loop	NOUN
aiti-4139	9	20	systems	system	NOUN
aiti-4139	9	21	with	with	ADP
aiti-4139	9	22	good	good	ADJ
aiti-4139	9	23	robustness	robustness	NOUN
aiti-4139	9	24	provided	provide	VERB
aiti-4139	9	25	that	that	SCONJ
aiti-4139	9	26	a	a	DET
aiti-4139	9	27	mathematical	mathematical	ADJ
aiti-4139	9	28	model	model	NOUN
aiti-4139	9	29	for	for	ADP
aiti-4139	9	30	a	a	DET
aiti-4139	9	31	control	control	NOUN
aiti-4139	9	32	system	system	NOUN
aiti-4139	9	33	describes	describe	VERB
aiti-4139	9	34	precisely	precisely	ADV
aiti-4139	9	35	[	[	X
aiti-4139	9	36	1,2	1,2	NUM
aiti-4139	9	37	]	]	PUNCT
aiti-4139	9	38	.	.	PUNCT
aiti-4139	10	1	however	however	ADV
aiti-4139	10	2	,	,	PUNCT
aiti-4139	10	3	there	there	PRON
aiti-4139	10	4	always	always	ADV
aiti-4139	10	5	exist	exist	VERB
aiti-4139	10	6	some	some	DET
aiti-4139	10	7	gaps	gap	NOUN
aiti-4139	10	8	between	between	ADP
aiti-4139	10	9	the	the	DET
aiti-4139	10	10	mathematical	mathematical	ADJ
aiti-4139	10	11	model	model	NOUN
aiti-4139	10	12	and	and	CCONJ
aiti-4139	10	13	the	the	DET
aiti-4139	10	14	controlled	control	VERB
aiti-4139	10	15	system	system	NOUN
aiti-4139	10	16	,	,	PUNCT
aiti-4139	10	17	and	and	CCONJ
aiti-4139	10	18	the	the	DET
aiti-4139	10	19	gaps	gap	NOUN
aiti-4139	10	20	are	be	AUX
aiti-4139	10	21	referred	refer	VERB
aiti-4139	10	22	to	to	ADP
aiti-4139	10	23	as	as	ADP
aiti-4139	10	24	“	"	PUNCT
aiti-4139	10	25	uncertainty	uncertainty	NOUN
aiti-4139	10	26	”	"	PUNCT
aiti-4139	10	27	.	.	PUNCT
aiti-4139	11	1	therefore	therefore	ADV
aiti-4139	11	2	,	,	PUNCT
aiti-4139	11	3	controller	controller	NOUN
aiti-4139	11	4	design	design	NOUN
aiti-4139	11	5	methods	method	NOUN
aiti-4139	11	6	dealing	deal	VERB
aiti-4139	11	7	with	with	ADP
aiti-4139	11	8	uncertainties	uncertainty	NOUN
aiti-4139	11	9	explicitly	explicitly	ADV
aiti-4139	11	10	have	have	AUX
aiti-4139	11	11	been	be	AUX
aiti-4139	11	12	required	require	VERB
aiti-4139	11	13	,	,	PUNCT
aiti-4139	11	14	and	and	CCONJ
aiti-4139	11	15	robust	robust	ADJ
aiti-4139	11	16	control	control	NOUN
aiti-4139	11	17	for	for	ADP
aiti-4139	11	18	uncertain	uncertain	ADJ
aiti-4139	11	19	dynamical	dynamical	ADJ
aiti-4139	11	20	systems	system	NOUN
aiti-4139	11	21	has	have	AUX
aiti-4139	11	22	been	be	AUX
aiti-4139	11	23	extensively	extensively	ADV
aiti-4139	11	24	studied	study	VERB
aiti-4139	11	25	.	.	PUNCT
aiti-4139	12	1	one	one	PRON
aiti-4139	12	2	can	can	AUX
aiti-4139	12	3	see	see	VERB
aiti-4139	12	4	that	that	DET
aiti-4139	12	5	robust	robust	ADJ
aiti-4139	12	6	control	control	NOUN
aiti-4139	12	7	can	can	AUX
aiti-4139	12	8	be	be	AUX
aiti-4139	12	9	classified	classify	VERB
aiti-4139	12	10	into	into	ADP
aiti-4139	12	11	“	"	PUNCT
aiti-4139	12	12	robust	robust	ADJ
aiti-4139	12	13	stability	stability	NOUN
aiti-4139	12	14	analysis	analysis	NOUN
aiti-4139	12	15	”	"	PUNCT
aiti-4139	12	16	and	and	CCONJ
aiti-4139	12	17	“	"	PUNCT
aiti-4139	12	18	robust	robust	ADJ
aiti-4139	12	19	stabilization	stabilization	NOUN
aiti-4139	12	20	”	"	PUNCT
aiti-4139	12	21	,	,	PUNCT
aiti-4139	12	22	and	and	CCONJ
aiti-4139	12	23	lots	lot	NOUN
aiti-4139	12	24	of	of	ADP
aiti-4139	12	25	existing	exist	VERB
aiti-4139	12	26	results	result	NOUN
aiti-4139	12	27	for	for	ADP
aiti-4139	12	28	robust	robust	ADJ
aiti-4139	12	29	control	control	NOUN
aiti-4139	12	30	strategies	strategy	NOUN
aiti-4139	12	31	have	have	AUX
aiti-4139	12	32	been	be	AUX
aiti-4139	12	33	presented	present	VERB
aiti-4139	12	34	[	[	PUNCT
aiti-4139	12	35	3	3	NUM
aiti-4139	12	36	-	-	SYM
aiti-4139	12	37	6	6	NUM
aiti-4139	12	38	]	]	PUNCT
aiti-4139	12	39	and	and	CCONJ
aiti-4139	12	40	quadratic	quadratic	ADJ
aiti-4139	12	41	stabilizing	stabilizing	NOUN
aiti-4139	12	42	controllers	controller	NOUN
aiti-4139	12	43	and	and	CCONJ
aiti-4139	12	44	control	control	NOUN
aiti-4139	12	45	are	be	AUX
aiti-4139	12	46	well	well	ADV
aiti-4139	12	47	known	know	VERB
aiti-4139	12	48	robust	robust	ADJ
aiti-4139	12	49	control	control	NOUN
aiti-4139	12	50	strategies[7,8	strategies[7,8	PROPN
aiti-4139	12	51	]	]	PUNCT
aiti-4139	12	52	.	.	PUNCT
aiti-4139	13	1	note	note	VERB
aiti-4139	13	2	that	that	SCONJ
aiti-4139	13	3	the	the	DET
aiti-4139	13	4	conventional	conventional	ADJ
aiti-4139	13	5	robust	robust	ADJ
aiti-4139	13	6	controller	controller	NOUN
aiti-4139	13	7	consists	consist	VERB
aiti-4139	13	8	of	of	ADP
aiti-4139	13	9	fixed	fix	VERB
aiti-4139	13	10	gains	gain	NOUN
aiti-4139	13	11	which	which	PRON
aiti-4139	13	12	are	be	AUX
aiti-4139	13	13	derived	derive	VERB
aiti-4139	13	14	by	by	ADP
aiti-4139	13	15	considering	consider	VERB
aiti-4139	13	16	the	the	DET
aiti-4139	13	17	worst	bad	ADJ
aiti-4139	13	18	-	-	PUNCT
aiti-4139	13	19	case	case	NOUN
aiti-4139	13	20	variations	variation	NOUN
aiti-4139	13	21	for	for	ADP
aiti-4139	13	22	uncertainties	uncertainty	NOUN
aiti-4139	13	23	.	.	PUNCT
aiti-4139	14	1	in	in	ADP
aiti-4139	14	2	contrast	contrast	NOUN
aiti-4139	14	3	with	with	ADP
aiti-4139	14	4	the	the	DET
aiti-4139	14	5	conventional	conventional	ADJ
aiti-4139	14	6	robust	robust	ADJ
aiti-4139	14	7	control	control	NOUN
aiti-4139	14	8	with	with	ADP
aiti-4139	14	9	fixed	fix	VERB
aiti-4139	14	10	gains	gain	NOUN
aiti-4139	14	11	,	,	PUNCT
aiti-4139	14	12	some	some	DET
aiti-4139	14	13	researchers	researcher	NOUN
aiti-4139	14	14	have	have	AUX
aiti-4139	14	15	presented	present	VERB
aiti-4139	14	16	variable	variable	ADJ
aiti-4139	14	17	gain	gain	VERB
aiti-4139	14	18	robust	robust	ADJ
aiti-4139	14	19	controllers	controller	NOUN
aiti-4139	14	20	for	for	ADP
aiti-4139	14	21	uncertain	uncertain	ADJ
aiti-4139	14	22	systems	system	NOUN
aiti-4139	14	23	[	[	X
aiti-4139	14	24	9	9	NUM
aiti-4139	14	25	-	-	SYM
aiti-4139	14	26	11	11	NUM
aiti-4139	14	27	]	]	PUNCT
aiti-4139	14	28	.	.	PUNCT
aiti-4139	15	1	such	such	ADJ
aiti-4139	15	2	variable	variable	ADJ
aiti-4139	15	3	gain	gain	VERB
aiti-4139	15	4	robust	robust	ADJ
aiti-4139	15	5	control	control	NOUN
aiti-4139	15	6	strategies	strategy	NOUN
aiti-4139	15	7	are	be	AUX
aiti-4139	15	8	more	more	ADV
aiti-4139	15	9	flexible	flexible	ADJ
aiti-4139	15	10	and	and	CCONJ
aiti-4139	15	11	adaptive	adaptive	ADJ
aiti-4139	15	12	comparing	compare	VERB
aiti-4139	15	13	with	with	ADP
aiti-4139	15	14	the	the	DET
aiti-4139	15	15	conventional	conventional	ADJ
aiti-4139	15	16	robust	robust	ADJ
aiti-4139	15	17	control	control	NOUN
aiti-4139	15	18	with	with	ADP
aiti-4139	15	19	fixed	fix	VERB
aiti-4139	15	20	gains	gain	NOUN
aiti-4139	15	21	.	.	PUNCT
aiti-4139	16	1	on	on	ADP
aiti-4139	16	2	the	the	DET
aiti-4139	16	3	other	other	ADJ
aiti-4139	16	4	hand	hand	NOUN
aiti-4139	16	5	,	,	PUNCT
aiti-4139	16	6	the	the	DET
aiti-4139	16	7	practical	practical	ADJ
aiti-4139	16	8	systems	system	NOUN
aiti-4139	16	9	in	in	ADP
aiti-4139	16	10	modern	modern	ADJ
aiti-4139	16	11	society	society	NOUN
aiti-4139	16	12	have	have	AUX
aiti-4139	16	13	become	become	VERB
aiti-4139	16	14	large	large	ADJ
aiti-4139	16	15	-	-	PUNCT
aiti-4139	16	16	scale	scale	NOUN
aiti-4139	16	17	and	and	CCONJ
aiti-4139	16	18	complex	complex	ADJ
aiti-4139	16	19	due	due	ADJ
aiti-4139	16	20	to	to	ADP
aiti-4139	16	21	rapid	rapid	ADJ
aiti-4139	16	22	development	development	NOUN
aiti-4139	16	23	of	of	ADP
aiti-4139	16	24	technologies	technology	NOUN
aiti-4139	16	25	,	,	PUNCT
aiti-4139	16	26	and	and	CCONJ
aiti-4139	16	27	such	such	ADJ
aiti-4139	16	28	systems	system	NOUN
aiti-4139	16	29	are	be	AUX
aiti-4139	16	30	referred	refer	VERB
aiti-4139	16	31	to	to	ADP
aiti-4139	16	32	as	as	ADP
aiti-4139	16	33	“	"	PUNCT
aiti-4139	16	34	large	large	ADJ
aiti-4139	16	35	-	-	PUNCT
aiti-4139	16	36	scale	scale	NOUN
aiti-4139	16	37	interconnected	interconnected	ADJ
aiti-4139	16	38	systems	system	NOUN
aiti-4139	16	39	”	"	PUNCT
aiti-4139	16	40	.	.	PUNCT
aiti-4139	17	1	since	since	SCONJ
aiti-4139	17	2	it	it	PRON
aiti-4139	17	3	is	be	AUX
aiti-4139	17	4	difficult	difficult	ADJ
aiti-4139	17	5	to	to	PART
aiti-4139	17	6	apply	apply	VERB
aiti-4139	17	7	centralized	centralized	ADJ
aiti-4139	17	8	control	control	NOUN
aiti-4139	17	9	strategies	strategy	NOUN
aiti-4139	17	10	to	to	ADP
aiti-4139	17	11	such	such	ADJ
aiti-4139	17	12	large	large	ADJ
aiti-4139	17	13	-	-	PUNCT
aiti-4139	17	14	scale	scale	NOUN
aiti-4139	17	15	interconnected	interconnected	ADJ
aiti-4139	17	16	systems	system	NOUN
aiti-4139	17	17	,	,	PUNCT
aiti-4139	17	18	design	design	NOUN
aiti-4139	17	19	problems	problem	NOUN
aiti-4139	17	20	of	of	ADP
aiti-4139	17	21	decentralized	decentralized	ADJ
aiti-4139	17	22	control	control	NOUN
aiti-4139	17	23	for	for	ADP
aiti-4139	17	24	*	*	VERB
aiti-4139	17	25	corresponding	correspond	VERB
aiti-4139	17	26	author	author	NOUN
aiti-4139	17	27	.	.	PUNCT
aiti-4139	18	1	e	e	X
aiti-4139	18	2	-	-	NOUN
aiti-4139	18	3	mail	mail	NOUN
aiti-4139	18	4	address	address	NOUN
aiti-4139	18	5	:	:	PUNCT
aiti-4139	18	6	g1881842@tcu.ac.jp	g1881842@tcu.ac.jp	NOUN
aiti-4139	18	7	advances	advance	NOUN
aiti-4139	18	8	technology	technology	NOUN
aiti-4139	18	9	innovation	innovation	NOUN
aiti-4139	18	10	,	,	PUNCT
aiti-4139	18	11	vol	vol	NOUN
aiti-4139	18	12	.	.	PROPN
aiti-4139	18	13	4	4	NUM
aiti-4139	18	14	,	,	PUNCT
aiti-4139	18	15	no	no	INTJ
aiti-4139	18	16	.	.	NOUN
aiti-4139	18	17	4	4	NUM
aiti-4139	18	18	,	,	PUNCT
aiti-4139	18	19	2019	2019	NUM
aiti-4139	18	20	,	,	PUNCT
aiti-4139	18	21	pp	pp	ADJ
aiti-4139	18	22	.	.	PUNCT
aiti-4139	19	1	234	234	NUM
aiti-4139	19	2	-	-	SYM
aiti-4139	19	3	246	246	NUM
aiti-4139	19	4	235	235	NUM
aiti-4139	19	5	large	large	ADJ
aiti-4139	19	6	-	-	PUNCT
aiti-4139	19	7	scale	scale	NOUN
aiti-4139	19	8	interconnected	interconnect	VERB
aiti-4139	19	9	systems	system	NOUN
aiti-4139	19	10	have	have	AUX
aiti-4139	19	11	been	be	AUX
aiti-4139	19	12	well	well	ADV
aiti-4139	19	13	studied	study	VERB
aiti-4139	19	14	(	(	PUNCT
aiti-4139	19	15	see	see	VERB
aiti-4139	19	16	[	[	X
aiti-4139	19	17	12	12	NUM
aiti-4139	19	18	]	]	PUNCT
aiti-4139	19	19	and	and	CCONJ
aiti-4139	19	20	references	reference	NOUN
aiti-4139	19	21	therein	therein	ADV
aiti-4139	19	22	)	)	PUNCT
aiti-4139	19	23	.	.	PUNCT
aiti-4139	20	1	for	for	ADP
aiti-4139	20	2	instance	instance	NOUN
aiti-4139	20	3	,	,	PUNCT
aiti-4139	20	4	one	one	PRON
aiti-4139	20	5	can	can	AUX
aiti-4139	20	6	see	see	VERB
aiti-4139	20	7	that	that	DET
aiti-4139	20	8	large	large	ADJ
aiti-4139	20	9	interconnected	interconnected	ADJ
aiti-4139	20	10	power	power	NOUN
aiti-4139	20	11	distribution	distribution	NOUN
aiti-4139	20	12	systems	system	NOUN
aiti-4139	20	13	which	which	PRON
aiti-4139	20	14	have	have	VERB
aiti-4139	20	15	strong	strong	ADJ
aiti-4139	20	16	interactions	interaction	NOUN
aiti-4139	20	17	,	,	PUNCT
aiti-4139	20	18	transportation	transportation	NOUN
aiti-4139	20	19	and	and	CCONJ
aiti-4139	20	20	traffic	traffic	NOUN
aiti-4139	20	21	systems	system	NOUN
aiti-4139	20	22	with	with	ADP
aiti-4139	20	23	lots	lot	NOUN
aiti-4139	20	24	of	of	ADP
aiti-4139	20	25	external	external	ADJ
aiti-4139	20	26	signals	signal	NOUN
aiti-4139	20	27	,	,	PUNCT
aiti-4139	20	28	water	water	NOUN
aiti-4139	20	29	systems	system	NOUN
aiti-4139	20	30	which	which	PRON
aiti-4139	20	31	are	be	AUX
aiti-4139	20	32	widely	widely	ADV
aiti-4139	20	33	distributed	distribute	VERB
aiti-4139	20	34	in	in	ADP
aiti-4139	20	35	the	the	DET
aiti-4139	20	36	environment	environment	NOUN
aiti-4139	20	37	,	,	PUNCT
aiti-4139	20	38	energy	energy	NOUN
aiti-4139	20	39	systems	system	NOUN
aiti-4139	20	40	,	,	PUNCT
aiti-4139	20	41	communication	communication	NOUN
aiti-4139	20	42	systems	system	NOUN
aiti-4139	20	43	and	and	CCONJ
aiti-4139	20	44	so	so	ADV
aiti-4139	20	45	on	on	ADV
aiti-4139	20	46	are	be	AUX
aiti-4139	20	47	large	large	ADJ
aiti-4139	20	48	-	-	PUNCT
aiti-4139	20	49	scale	scale	NOUN
aiti-4139	20	50	systems	system	NOUN
aiti-4139	20	51	.	.	PUNCT
aiti-4139	21	1	moreover	moreover	ADV
aiti-4139	21	2	,	,	PUNCT
aiti-4139	21	3	formation	formation	NOUN
aiti-4139	21	4	control	control	NOUN
aiti-4139	21	5	has	have	AUX
aiti-4139	21	6	recently	recently	ADV
aiti-4139	21	7	attracted	attract	VERB
aiti-4139	21	8	much	much	ADJ
aiti-4139	21	9	attention	attention	NOUN
aiti-4139	21	10	,	,	PUNCT
aiti-4139	21	11	and	and	CCONJ
aiti-4139	21	12	a	a	DET
aiti-4139	21	13	multi	multi	ADJ
aiti-4139	21	14	-	-	ADJ
aiti-4139	21	15	agent	agent	ADJ
aiti-4139	21	16	system	system	NOUN
aiti-4139	21	17	,	,	PUNCT
aiti-4139	21	18	in	in	ADP
aiti-4139	21	19	general	general	ADJ
aiti-4139	21	20	,	,	PUNCT
aiti-4139	21	21	can	can	AUX
aiti-4139	21	22	be	be	AUX
aiti-4139	21	23	described	describe	VERB
aiti-4139	21	24	as	as	ADP
aiti-4139	21	25	a	a	DET
aiti-4139	21	26	network	network	NOUN
aiti-4139	21	27	of	of	ADP
aiti-4139	21	28	a	a	DET
aiti-4139	21	29	few	few	ADJ
aiti-4139	21	30	of	of	ADP
aiti-4139	21	31	coupled	couple	VERB
aiti-4139	21	32	dynamic	dynamic	ADJ
aiti-4139	21	33	units	unit	NOUN
aiti-4139	21	34	that	that	PRON
aiti-4139	21	35	are	be	AUX
aiti-4139	21	36	called	call	VERB
aiti-4139	21	37	agents	agent	NOUN
aiti-4139	21	38	.	.	PUNCT
aiti-4139	22	1	the	the	DET
aiti-4139	22	2	design	design	NOUN
aiti-4139	22	3	problems	problem	NOUN
aiti-4139	22	4	of	of	ADP
aiti-4139	22	5	formation	formation	NOUN
aiti-4139	22	6	control	control	NOUN
aiti-4139	22	7	for	for	ADP
aiti-4139	22	8	mass	mass	NOUN
aiti-4139	22	9	are	be	AUX
aiti-4139	22	10	considered	consider	VERB
aiti-4139	22	11	as	as	ADP
aiti-4139	22	12	one	one	NUM
aiti-4139	22	13	of	of	ADP
aiti-4139	22	14	the	the	DET
aiti-4139	22	15	decentralized	decentralize	VERB
aiti-4139	22	16	control	control	NOUN
aiti-4139	22	17	problems	problem	NOUN
aiti-4139	22	18	and	and	CCONJ
aiti-4139	22	19	it	it	PRON
aiti-4139	22	20	is	be	AUX
aiti-4139	22	21	well	well	ADV
aiti-4139	22	22	-	-	PUNCT
aiti-4139	22	23	known	know	VERB
aiti-4139	22	24	that	that	SCONJ
aiti-4139	22	25	mass	mass	NOUN
aiti-4139	22	26	can	can	AUX
aiti-4139	22	27	achieve	achieve	VERB
aiti-4139	22	28	various	various	ADJ
aiti-4139	22	29	task	task	NOUN
aiti-4139	22	30	efficiently	efficiently	ADV
aiti-4139	22	31	.	.	PUNCT
aiti-4139	23	1	for	for	ADP
aiti-4139	23	2	design	design	NOUN
aiti-4139	23	3	problems	problem	NOUN
aiti-4139	23	4	of	of	ADP
aiti-4139	23	5	formation	formation	NOUN
aiti-4139	23	6	control	control	NOUN
aiti-4139	23	7	for	for	ADP
aiti-4139	23	8	mass	mass	NOUN
aiti-4139	23	9	,	,	PUNCT
aiti-4139	23	10	the	the	DET
aiti-4139	23	11	consensus	consensus	NOUN
aiti-4139	23	12	problem	problem	NOUN
aiti-4139	23	13	has	have	AUX
aiti-4139	23	14	received	receive	VERB
aiti-4139	23	15	a	a	DET
aiti-4139	23	16	lot	lot	NOUN
aiti-4139	23	17	of	of	ADP
aiti-4139	23	18	attention	attention	NOUN
aiti-4139	23	19	,	,	PUNCT
aiti-4139	23	20	because	because	SCONJ
aiti-4139	23	21	this	this	DET
aiti-4139	23	22	problem	problem	NOUN
aiti-4139	23	23	has	have	AUX
aiti-4139	23	24	drawn	draw	VERB
aiti-4139	23	25	substantial	substantial	ADJ
aiti-4139	23	26	attention	attention	NOUN
aiti-4139	23	27	from	from	ADP
aiti-4139	23	28	various	various	ADJ
aiti-4139	23	29	fields	field	NOUN
aiti-4139	23	30	such	such	ADJ
aiti-4139	23	31	as	as	ADP
aiti-4139	23	32	vehicle	vehicle	NOUN
aiti-4139	23	33	formations	formation	NOUN
aiti-4139	23	34	,	,	PUNCT
aiti-4139	23	35	unmanned	unmanned	ADJ
aiti-4139	23	36	aerial	aerial	ADJ
aiti-4139	23	37	vehicles	vehicle	NOUN
aiti-4139	23	38	,	,	PUNCT
aiti-4139	23	39	mobile	mobile	ADJ
aiti-4139	23	40	robots	robot	NOUN
aiti-4139	23	41	,	,	PUNCT
aiti-4139	23	42	sensor	sensor	NOUN
aiti-4139	23	43	networks	network	NOUN
aiti-4139	23	44	,	,	PUNCT
aiti-4139	23	45	and	and	CCONJ
aiti-4139	23	46	so	so	ADV
aiti-4139	23	47	on	on	ADV
aiti-4139	23	48	.	.	PUNCT
aiti-4139	24	1	moreover	moreover	ADV
aiti-4139	24	2	,	,	PUNCT
aiti-4139	24	3	a	a	DET
aiti-4139	24	4	consensus	consensus	NOUN
aiti-4139	24	5	which	which	PRON
aiti-4139	24	6	means	mean	VERB
aiti-4139	24	7	the	the	DET
aiti-4139	24	8	states	state	NOUN
aiti-4139	24	9	of	of	ADP
aiti-4139	24	10	all	all	DET
aiti-4139	24	11	agents	agent	NOUN
aiti-4139	24	12	are	be	AUX
aiti-4139	24	13	driven	drive	VERB
aiti-4139	24	14	to	to	ADP
aiti-4139	24	15	a	a	DET
aiti-4139	24	16	common	common	ADJ
aiti-4139	24	17	state	state	NOUN
aiti-4139	24	18	by	by	ADP
aiti-4139	24	19	implementing	implement	VERB
aiti-4139	24	20	distributed	distribute	VERB
aiti-4139	24	21	protocols	protocol	NOUN
aiti-4139	24	22	is	be	AUX
aiti-4139	24	23	well	well	ADV
aiti-4139	24	24	accepted	accept	VERB
aiti-4139	24	25	as	as	ADP
aiti-4139	24	26	one	one	NUM
aiti-4139	24	27	of	of	ADP
aiti-4139	24	28	the	the	DET
aiti-4139	24	29	most	most	ADV
aiti-4139	24	30	important	important	ADJ
aiti-4139	24	31	and	and	CCONJ
aiti-4139	24	32	fundamental	fundamental	ADJ
aiti-4139	24	33	problem	problem	NOUN
aiti-4139	24	34	in	in	ADP
aiti-4139	24	35	formation	formation	NOUN
aiti-4139	24	36	control	control	NOUN
aiti-4139	24	37	.	.	PUNCT
aiti-4139	25	1	thus	thus	ADV
aiti-4139	25	2	,	,	PUNCT
aiti-4139	25	3	a	a	DET
aiti-4139	25	4	large	large	ADJ
aiti-4139	25	5	number	number	NOUN
aiti-4139	25	6	of	of	ADP
aiti-4139	25	7	existing	exist	VERB
aiti-4139	25	8	results	result	NOUN
aiti-4139	25	9	for	for	ADP
aiti-4139	25	10	consensus	consensus	NOUN
aiti-4139	25	11	problem	problem	NOUN
aiti-4139	25	12	have	have	AUX
aiti-4139	25	13	been	be	AUX
aiti-4139	25	14	presented	present	VERB
aiti-4139	25	15	(	(	PUNCT
aiti-4139	25	16	e.g.	e.g.	ADV
aiti-4139	25	17	[	[	X
aiti-4139	25	18	13	13	NUM
aiti-4139	25	19	-	-	SYM
aiti-4139	25	20	16	16	NUM
aiti-4139	25	21	]	]	PUNCT
aiti-4139	25	22	)	)	PUNCT
aiti-4139	25	23	.	.	PUNCT
aiti-4139	26	1	in	in	ADP
aiti-4139	26	2	the	the	DET
aiti-4139	26	3	work	work	NOUN
aiti-4139	26	4	of	of	ADP
aiti-4139	26	5	olfati	olfati	NOUN
aiti-4139	26	6	-	-	NOUN
aiti-4139	26	7	saber	saber	NOUN
aiti-4139	26	8	et	et	NOUN
aiti-4139	26	9	al	al	PROPN
aiti-4139	26	10	.	.	PUNCT
aiti-4139	27	1	[	[	X
aiti-4139	27	2	13	13	NUM
aiti-4139	27	3	]	]	PUNCT
aiti-4139	27	4	,	,	PUNCT
aiti-4139	27	5	the	the	DET
aiti-4139	27	6	consensus	consensus	NOUN
aiti-4139	27	7	problem	problem	NOUN
aiti-4139	27	8	for	for	ADP
aiti-4139	27	9	a	a	DET
aiti-4139	27	10	network	network	NOUN
aiti-4139	27	11	of	of	ADP
aiti-4139	27	12	first	first	ADJ
aiti-4139	27	13	-	-	PUNCT
aiti-4139	27	14	order	order	NOUN
aiti-4139	27	15	integrators	integrator	NOUN
aiti-4139	27	16	with	with	ADP
aiti-4139	27	17	directed	direct	VERB
aiti-4139	27	18	information	information	NOUN
aiti-4139	27	19	flow	flow	NOUN
aiti-4139	27	20	and	and	CCONJ
aiti-4139	27	21	fixed	fix	VERB
aiti-4139	27	22	/	/	SYM
aiti-4139	27	23	switching	switch	VERB
aiti-4139	27	24	topology	topology	NOUN
aiti-4139	27	25	has	have	AUX
aiti-4139	27	26	been	be	AUX
aiti-4139	27	27	studied	study	VERB
aiti-4139	27	28	,	,	PUNCT
aiti-4139	27	29	and	and	CCONJ
aiti-4139	27	30	convergence	convergence	NOUN
aiti-4139	27	31	analysis	analysis	NOUN
aiti-4139	27	32	of	of	ADP
aiti-4139	27	33	a	a	DET
aiti-4139	27	34	consensus	consensus	NOUN
aiti-4139	27	35	protocol	protocol	NOUN
aiti-4139	27	36	for	for	ADP
aiti-4139	27	37	a	a	DET
aiti-4139	27	38	class	class	NOUN
aiti-4139	27	39	of	of	ADP
aiti-4139	27	40	networks	network	NOUN
aiti-4139	27	41	of	of	ADP
aiti-4139	27	42	dynamic	dynamic	ADJ
aiti-4139	27	43	agents	agent	NOUN
aiti-4139	27	44	with	with	ADP
aiti-4139	27	45	fixed	fix	VERB
aiti-4139	27	46	topology	topology	NOUN
aiti-4139	27	47	have	have	AUX
aiti-4139	27	48	been	be	AUX
aiti-4139	27	49	shown	show	VERB
aiti-4139	27	50	[	[	PUNCT
aiti-4139	27	51	14	14	NUM
aiti-4139	27	52	]	]	PUNCT
aiti-4139	27	53	.	.	PUNCT
aiti-4139	28	1	zhang	zhang	PROPN
aiti-4139	28	2	and	and	CCONJ
aiti-4139	28	3	tian	tian	PROPN
aiti-4139	28	4	have	have	AUX
aiti-4139	28	5	studied	study	VERB
aiti-4139	28	6	the	the	DET
aiti-4139	28	7	mean	mean	ADJ
aiti-4139	28	8	-	-	PUNCT
aiti-4139	28	9	square	square	NOUN
aiti-4139	28	10	consensus	consensus	NOUN
aiti-4139	28	11	for	for	ADP
aiti-4139	28	12	mass	mass	NOUN
aiti-4139	28	13	composed	compose	VERB
aiti-4139	28	14	of	of	ADP
aiti-4139	28	15	second	second	ADJ
aiti-4139	28	16	-	-	PUNCT
aiti-4139	28	17	order	order	NOUN
aiti-4139	28	18	integrators	integrator	NOUN
aiti-4139	28	19	[	[	X
aiti-4139	28	20	15	15	NUM
aiti-4139	28	21	]	]	PUNCT
aiti-4139	28	22	,	,	PUNCT
aiti-4139	28	23	and	and	CCONJ
aiti-4139	28	24	the	the	DET
aiti-4139	28	25	matrix	matrix	NOUN
aiti-4139	28	26	inequalitybased	inequalitybase	VERB
aiti-4139	28	27	stabilization	stabilization	NOUN
aiti-4139	28	28	condition	condition	NOUN
aiti-4139	28	29	and	and	CCONJ
aiti-4139	28	30	consensus	consensus	NOUN
aiti-4139	28	31	algorithm	algorithm	NOUN
aiti-4139	28	32	for	for	ADP
aiti-4139	28	33	mass	mass	NOUN
aiti-4139	28	34	have	have	AUX
aiti-4139	28	35	been	be	AUX
aiti-4139	28	36	presented	present	VERB
aiti-4139	28	37	[	[	X
aiti-4139	28	38	16	16	NUM
aiti-4139	28	39	]	]	PUNCT
aiti-4139	28	40	.	.	PUNCT
aiti-4139	29	1	also	also	ADV
aiti-4139	29	2	,	,	PUNCT
aiti-4139	29	3	a	a	DET
aiti-4139	29	4	number	number	NOUN
aiti-4139	29	5	of	of	ADP
aiti-4139	29	6	the	the	DET
aiti-4139	29	7	existing	exist	VERB
aiti-4139	29	8	results	result	NOUN
aiti-4139	29	9	for	for	ADP
aiti-4139	29	10	the	the	DET
aiti-4139	29	11	leader	leader	NOUN
aiti-4139	29	12	-	-	PUNCT
aiti-4139	29	13	follower	follower	NOUN
aiti-4139	29	14	consensus	consensus	NOUN
aiti-4139	29	15	for	for	ADP
aiti-4139	29	16	mass	mass	NOUN
aiti-4139	29	17	has	have	AUX
aiti-4139	29	18	been	be	AUX
aiti-4139	29	19	presented([17	presented([17	VERB
aiti-4139	29	20	-	-	SYM
aiti-4139	29	21	19	19	NUM
aiti-4139	29	22	]	]	PUNCT
aiti-4139	29	23	)	)	PUNCT
aiti-4139	29	24	.	.	PUNCT
aiti-4139	30	1	“	"	PUNCT
aiti-4139	30	2	leader	leader	NOUN
aiti-4139	30	3	-	-	PUNCT
aiti-4139	30	4	follower	follower	NOUN
aiti-4139	30	5	”	"	PUNCT
aiti-4139	30	6	refers	refer	VERB
aiti-4139	30	7	to	to	ADP
aiti-4139	30	8	defining	define	VERB
aiti-4139	30	9	a	a	DET
aiti-4139	30	10	leader	leader	NOUN
aiti-4139	30	11	(	(	PUNCT
aiti-4139	30	12	whether	whether	SCONJ
aiti-4139	30	13	real	real	ADJ
aiti-4139	30	14	or	or	CCONJ
aiti-4139	30	15	virtual	virtual	ADJ
aiti-4139	30	16	)	)	PUNCT
aiti-4139	30	17	and	and	CCONJ
aiti-4139	30	18	controlling	control	VERB
aiti-4139	30	19	another	another	DET
aiti-4139	30	20	agent	agent	NOUN
aiti-4139	30	21	(	(	PUNCT
aiti-4139	30	22	follower	follower	NOUN
aiti-4139	30	23	)	)	PUNCT
aiti-4139	30	24	to	to	PART
aiti-4139	30	25	follow	follow	VERB
aiti-4139	30	26	the	the	DET
aiti-4139	30	27	leader	leader	NOUN
aiti-4139	30	28	.	.	PUNCT
aiti-4139	31	1	in	in	ADP
aiti-4139	31	2	these	these	DET
aiti-4139	31	3	results	result	NOUN
aiti-4139	31	4	for	for	ADP
aiti-4139	31	5	consensus	consensus	NOUN
aiti-4139	31	6	problem	problem	NOUN
aiti-4139	31	7	for	for	ADP
aiti-4139	31	8	mass	mass	NOUN
aiti-4139	31	9	,	,	PUNCT
aiti-4139	31	10	controllers	controller	NOUN
aiti-4139	31	11	have	have	AUX
aiti-4139	31	12	fixed	fix	VERB
aiti-4139	31	13	gain	gain	NOUN
aiti-4139	31	14	parameters	parameter	NOUN
aiti-4139	31	15	only	only	ADV
aiti-4139	31	16	,	,	PUNCT
aiti-4139	31	17	and	and	CCONJ
aiti-4139	31	18	relative	relative	ADJ
aiti-4139	31	19	distances	distance	NOUN
aiti-4139	31	20	between	between	ADP
aiti-4139	31	21	agents	agent	NOUN
aiti-4139	31	22	can	can	AUX
aiti-4139	31	23	not	not	PART
aiti-4139	31	24	be	be	AUX
aiti-4139	31	25	considered	consider	VERB
aiti-4139	31	26	explicitly	explicitly	ADV
aiti-4139	31	27	.	.	PUNCT
aiti-4139	32	1	there	there	PRON
aiti-4139	32	2	are	be	VERB
aiti-4139	32	3	few	few	ADJ
aiti-4139	32	4	results	result	NOUN
aiti-4139	32	5	of	of	ADP
aiti-4139	32	6	the	the	DET
aiti-4139	32	7	consensus	consensus	NOUN
aiti-4139	32	8	problem	problem	NOUN
aiti-4139	32	9	via	via	ADP
aiti-4139	32	10	adaptive	adaptive	ADJ
aiti-4139	32	11	gain	gain	NOUN
aiti-4139	32	12	-	-	PUNCT
aiti-4139	32	13	based	base	VERB
aiti-4139	32	14	controller	controller	NOUN
aiti-4139	32	15	considering	consider	VERB
aiti-4139	32	16	relative	relative	ADJ
aiti-4139	32	17	distances	distance	NOUN
aiti-4139	32	18	between	between	ADP
aiti-4139	32	19	agents	agent	NOUN
aiti-4139	32	20	for	for	ADP
aiti-4139	32	21	mass	mass	PROPN
aiti-4139	32	22	.	.	PUNCT
aiti-4139	33	1	from	from	ADP
aiti-4139	33	2	the	the	DET
aiti-4139	33	3	above	above	NOUN
aiti-4139	33	4	,	,	PUNCT
aiti-4139	33	5	this	this	DET
aiti-4139	33	6	paper	paper	NOUN
aiti-4139	33	7	deals	deal	VERB
aiti-4139	33	8	with	with	ADP
aiti-4139	33	9	a	a	DET
aiti-4139	33	10	consensus	consensus	NOUN
aiti-4139	33	11	problem	problem	NOUN
aiti-4139	33	12	for	for	ADP
aiti-4139	33	13	mass	mass	NOUN
aiti-4139	33	14	with	with	ADP
aiti-4139	33	15	leader	leader	NOUN
aiti-4139	33	16	-	-	PUNCT
aiti-4139	33	17	follower	follower	NOUN
aiti-4139	33	18	structures	structure	NOUN
aiti-4139	33	19	.	.	PUNCT
aiti-4139	34	1	in	in	ADP
aiti-4139	34	2	this	this	DET
aiti-4139	34	3	paper	paper	NOUN
aiti-4139	34	4	,	,	PUNCT
aiti-4139	34	5	we	we	PRON
aiti-4139	34	6	present	present	VERB
aiti-4139	34	7	a	a	DET
aiti-4139	34	8	design	design	NOUN
aiti-4139	34	9	method	method	NOUN
aiti-4139	34	10	of	of	ADP
aiti-4139	34	11	an	an	DET
aiti-4139	34	12	adaptive	adaptive	ADJ
aiti-4139	34	13	gain	gain	NOUN
aiti-4139	34	14	controller	controller	NOUN
aiti-4139	34	15	giving	give	VERB
aiti-4139	34	16	considering	consider	VERB
aiti-4139	34	17	relative	relative	ADJ
aiti-4139	34	18	distances	distance	NOUN
aiti-4139	34	19	between	between	ADP
aiti-4139	34	20	agents	agent	NOUN
aiti-4139	34	21	.	.	PUNCT
aiti-4139	35	1	the	the	DET
aiti-4139	35	2	adaptive	adaptive	ADJ
aiti-4139	35	3	gain	gain	NOUN
aiti-4139	35	4	controller	controller	NOUN
aiti-4139	35	5	consists	consist	VERB
aiti-4139	35	6	of	of	ADP
aiti-4139	35	7	fixed	fix	VERB
aiti-4139	35	8	gains	gain	NOUN
aiti-4139	35	9	and	and	CCONJ
aiti-4139	35	10	variable	variable	ADJ
aiti-4139	35	11	ones	one	NOUN
aiti-4139	35	12	tuned	tune	VERB
aiti-4139	35	13	by	by	ADP
aiti-4139	35	14	time	time	NOUN
aiti-4139	35	15	-	-	PUNCT
aiti-4139	35	16	varying	vary	VERB
aiti-4139	35	17	adjustable	adjustable	ADJ
aiti-4139	35	18	parameters	parameter	NOUN
aiti-4139	35	19	.	.	PUNCT
aiti-4139	36	1	in	in	ADP
aiti-4139	36	2	this	this	DET
aiti-4139	36	3	paper	paper	NOUN
aiti-4139	36	4	.	.	PUNCT
aiti-4139	37	1	we	we	PRON
aiti-4139	37	2	show	show	VERB
aiti-4139	37	3	that	that	SCONJ
aiti-4139	37	4	enough	enough	ADJ
aiti-4139	37	5	conditions	condition	NOUN
aiti-4139	37	6	for	for	ADP
aiti-4139	37	7	the	the	DET
aiti-4139	37	8	existence	existence	NOUN
aiti-4139	37	9	of	of	ADP
aiti-4139	37	10	the	the	DET
aiti-4139	37	11	proposed	propose	VERB
aiti-4139	37	12	adaptive	adaptive	ADJ
aiti-4139	37	13	gain	gain	NOUN
aiti-4139	37	14	controller	controller	NOUN
aiti-4139	37	15	can	can	AUX
aiti-4139	37	16	be	be	AUX
aiti-4139	37	17	reduced	reduce	VERB
aiti-4139	37	18	to	to	ADP
aiti-4139	37	19	linear	linear	ADJ
aiti-4139	37	20	matrix	matrix	NOUN
aiti-4139	37	21	inequality	inequality	NOUN
aiti-4139	37	22	(	(	PUNCT
aiti-4139	37	23	lmi	lmi	PROPN
aiti-4139	37	24	)	)	PUNCT
aiti-4139	37	25	.	.	PUNCT
aiti-4139	38	1	the	the	DET
aiti-4139	38	2	proposed	propose	VERB
aiti-4139	38	3	adaptive	adaptive	ADJ
aiti-4139	38	4	gain	gain	NOUN
aiti-4139	38	5	control	control	NOUN
aiti-4139	38	6	strategy	strategy	NOUN
aiti-4139	38	7	has	have	VERB
aiti-4139	38	8	advantages	advantage	NOUN
aiti-4139	38	9	as	as	SCONJ
aiti-4139	38	10	follows	follow	VERB
aiti-4139	38	11	;	;	PUNCT
aiti-4139	38	12	the	the	DET
aiti-4139	38	13	proposed	propose	VERB
aiti-4139	38	14	controller	controller	NOUN
aiti-4139	38	15	design	design	NOUN
aiti-4139	38	16	approach	approach	NOUN
aiti-4139	38	17	can	can	AUX
aiti-4139	38	18	handle	handle	VERB
aiti-4139	38	19	relative	relative	ADJ
aiti-4139	38	20	distances	distance	NOUN
aiti-4139	38	21	between	between	ADP
aiti-4139	38	22	agents	agent	NOUN
aiti-4139	38	23	explicitly	explicitly	ADV
aiti-4139	38	24	.	.	PUNCT
aiti-4139	39	1	furthermore	furthermore	ADV
aiti-4139	39	2	,	,	PUNCT
aiti-4139	39	3	even	even	ADV
aiti-4139	39	4	if	if	SCONJ
aiti-4139	39	5	the	the	DET
aiti-4139	39	6	information	information	NOUN
aiti-4139	39	7	for	for	ADP
aiti-4139	39	8	relative	relative	ADJ
aiti-4139	39	9	distances	distance	NOUN
aiti-4139	39	10	between	between	ADP
aiti-4139	39	11	the	the	DET
aiti-4139	39	12	other	other	ADJ
aiti-4139	39	13	agents	agent	NOUN
aiti-4139	39	14	and	and	CCONJ
aiti-4139	39	15	the	the	DET
aiti-4139	39	16	leader	leader	NOUN
aiti-4139	39	17	is	be	AUX
aiti-4139	39	18	unknown	unknown	ADJ
aiti-4139	39	19	,	,	PUNCT
aiti-4139	39	20	but	but	CCONJ
aiti-4139	39	21	their	their	PRON
aiti-4139	39	22	upper	upper	ADJ
aiti-4139	39	23	bounds	bound	NOUN
aiti-4139	39	24	are	be	AUX
aiti-4139	39	25	known	know	VERB
aiti-4139	39	26	,	,	PUNCT
aiti-4139	39	27	the	the	DET
aiti-4139	39	28	controller	controller	NOUN
aiti-4139	39	29	can	can	AUX
aiti-4139	39	30	achieve	achieve	VERB
aiti-4139	39	31	consensus	consensus	NOUN
aiti-4139	39	32	.	.	PUNCT
aiti-4139	40	1	furthermore	furthermore	ADV
aiti-4139	40	2	,	,	PUNCT
aiti-4139	40	3	the	the	DET
aiti-4139	40	4	proposed	propose	VERB
aiti-4139	40	5	consensus	consensus	NOUN
aiti-4139	40	6	control	control	NOUN
aiti-4139	40	7	system	system	NOUN
aiti-4139	40	8	can	can	AUX
aiti-4139	40	9	be	be	AUX
aiti-4139	40	10	designed	design	VERB
aiti-4139	40	11	by	by	ADP
aiti-4139	40	12	solving	solve	VERB
aiti-4139	40	13	lmi	lmi	PROPN
aiti-4139	40	14	.	.	PUNCT
aiti-4139	41	1	finally	finally	ADV
aiti-4139	41	2	,	,	PUNCT
aiti-4139	41	3	simple	simple	ADJ
aiti-4139	41	4	numerical	numerical	ADJ
aiti-4139	41	5	examples	example	NOUN
aiti-4139	41	6	are	be	AUX
aiti-4139	41	7	included	include	VERB
aiti-4139	41	8	to	to	PART
aiti-4139	41	9	illustrate	illustrate	VERB
aiti-4139	41	10	the	the	DET
aiti-4139	41	11	effectiveness	effectiveness	NOUN
aiti-4139	41	12	of	of	ADP
aiti-4139	41	13	the	the	DET
aiti-4139	41	14	proposed	propose	VERB
aiti-4139	41	15	formation	formation	NOUN
aiti-4139	41	16	control	control	NOUN
aiti-4139	41	17	systems	system	NOUN
aiti-4139	41	18	.	.	PUNCT
aiti-4139	42	1	2	2	X
aiti-4139	42	2	.	.	X
aiti-4139	42	3	preliminaries	preliminary	NOUN
aiti-4139	42	4	this	this	DET
aiti-4139	42	5	chapter	chapter	NOUN
aiti-4139	42	6	shows	show	VERB
aiti-4139	42	7	the	the	DET
aiti-4139	42	8	mathematical	mathematical	ADJ
aiti-4139	42	9	notation	notation	NOUN
aiti-4139	42	10	used	use	VERB
aiti-4139	42	11	in	in	ADP
aiti-4139	42	12	this	this	DET
aiti-4139	42	13	paper	paper	NOUN
aiti-4139	42	14	.	.	PUNCT
aiti-4139	43	1	m	m	PROPN
aiti-4139	43	2	n	n	PROPN
aiti-4139	43	3	represents	represent	VERB
aiti-4139	43	4	an	an	DET
aiti-4139	43	5	m	m	NOUN
aiti-4139	43	6	-	-	PUNCT
aiti-4139	43	7	by	by	ADP
aiti-4139	43	8	-	-	PUNCT
aiti-4139	43	9	n	n	CCONJ
aiti-4139	43	10	real	real	ADJ
aiti-4139	43	11	matrix	matrix	NOUN
aiti-4139	43	12	,	,	PUNCT
aiti-4139	43	13	and	and	CCONJ
aiti-4139	43	14	ni	ni	PROPN
aiti-4139	43	15	represents	represent	VERB
aiti-4139	43	16	an	an	DET
aiti-4139	43	17	n	n	ADV
aiti-4139	43	18	-	-	PUNCT
aiti-4139	43	19	dimensional	dimensional	ADJ
aiti-4139	43	20	identity	identity	NOUN
aiti-4139	43	21	matrix	matrix	NOUN
aiti-4139	43	22	.	.	PUNCT
aiti-4139	44	1	for	for	ADP
aiti-4139	44	2	matrix	matrix	NOUN
aiti-4139	44	3	a	a	DET
aiti-4139	44	4	,	,	PUNCT
aiti-4139	44	5	ta	ta	PROPN
aiti-4139	44	6	and	and	CCONJ
aiti-4139	44	7	1a	1a	PROPN
aiti-4139	44	8	represent	represent	VERB
aiti-4139	44	9	transpose	transpose	NOUN
aiti-4139	44	10	and	and	CCONJ
aiti-4139	44	11	inverse	inverse	NOUN
aiti-4139	44	12	.	.	PUNCT
aiti-4139	45	1	for	for	ADP
aiti-4139	45	2	a	a	DET
aiti-4139	45	3	square	square	ADJ
aiti-4139	45	4	matrix	matrix	NOUN
aiti-4139	45	5	a	a	PRON
aiti-4139	45	6	,	,	PUNCT
aiti-4139	45	7	0	0	NUM
aiti-4139	45	8	(	(	PUNCT
aiti-4139	45	9	0)a	0)a	PROPN
aiti-4139	45	10	a	a	PROPN
aiti-4139	45	11			PROPN
aiti-4139	45	12	indicates	indicate	VERB
aiti-4139	45	13	that	that	SCONJ
aiti-4139	45	14	a	a	PRON
aiti-4139	45	15	is	be	AUX
aiti-4139	45	16	positive	positive	ADJ
aiti-4139	45	17	definite	definite	ADJ
aiti-4139	45	18	(	(	PUNCT
aiti-4139	45	19	positive	positive	ADJ
aiti-4139	45	20	semidefinite	semidefinite	NOUN
aiti-4139	45	21	)	)	PUNCT
aiti-4139	45	22	and	and	CCONJ
aiti-4139	45	23	0	0	NUM
aiti-4139	45	24	(	(	PUNCT
aiti-4139	45	25	0)a	0)a	PROPN
aiti-4139	45	26	a	a	NOUN
aiti-4139	45	27			NOUN
aiti-4139	45	28	is	be	AUX
aiti-4139	45	29	negative	negative	ADJ
aiti-4139	45	30	definite	definite	ADJ
aiti-4139	45	31	(	(	PUNCT
aiti-4139	45	32	negative	negative	ADJ
aiti-4139	45	33	semidefinite	semidefinite	NOUN
aiti-4139	45	34	)	)	PUNCT
aiti-4139	45	35	.	.	PUNCT
aiti-4139	46	1	c	c	PROPN
aiti-4139	46	2	is	be	AUX
aiti-4139	46	3	the	the	DET
aiti-4139	46	4	norm	norm	NOUN
aiti-4139	46	5	of	of	ADP
aiti-4139	46	6	any	any	DET
aiti-4139	46	7	matrix	matrix	NOUN
aiti-4139	46	8	c	c	NOUN
aiti-4139	46	9	.	.	PUNCT
aiti-4139	47	1	1	1	NUM
aiti-4139	47	2	2	2	NUM
aiti-4139	47	3	(	(	PUNCT
aiti-4139	47	4	,	,	PUNCT
aiti-4139	47	5	,	,	PUNCT
aiti-4139	47	6	...	...	PUNCT
aiti-4139	47	7	,	,	PUNCT
aiti-4139	47	8	)	)	PUNCT
aiti-4139	47	9	ndiag	ndiag	PROPN
aiti-4139	47	10	a	a	DET
aiti-4139	47	11	a	a	PRON
aiti-4139	47	12	a	a	DET
aiti-4139	47	13	gives	give	VERB
aiti-4139	47	14	a	a	DET
aiti-4139	47	15	diagonal	diagonal	ADJ
aiti-4139	47	16	block	block	NOUN
aiti-4139	47	17	matrix	matrix	NOUN
aiti-4139	47	18	with	with	ADP
aiti-4139	47	19	matrices	matrix	NOUN
aiti-4139	47	20	ia	ia	PROPN
aiti-4139	47	21	(	(	PUNCT
aiti-4139	47	22	i	i	NOUN
aiti-4139	47	23	=	=	NOUN
aiti-4139	47	24	1	1	NUM
aiti-4139	47	25	,	,	PUNCT
aiti-4139	47	26	2	2	NUM
aiti-4139	47	27	,	,	PUNCT
aiti-4139	47	28	...	...	PUNCT
aiti-4139	47	29	,	,	PUNCT
aiti-4139	47	30	n	n	CCONJ
aiti-4139	47	31	)	)	PUNCT
aiti-4139	47	32	on	on	ADP
aiti-4139	47	33	the	the	DET
aiti-4139	47	34	diagonal	diagonal	ADJ
aiti-4139	47	35	.	.	PUNCT
aiti-4139	48	1	element	element	NOUN
aiti-4139	48	2	*	*	PUNCT
aiti-4139	48	3	in	in	ADP
aiti-4139	48	4	the	the	DET
aiti-4139	48	5	matrix	matrix	NOUN
aiti-4139	48	6	represents	represent	VERB
aiti-4139	48	7	a	a	DET
aiti-4139	48	8	symmetric	symmetric	ADJ
aiti-4139	48	9	element	element	NOUN
aiti-4139	48	10	.	.	PUNCT
aiti-4139	49	1	if	if	SCONJ
aiti-4139	49	2	a	a	PRON
aiti-4139	49	3	is	be	AUX
aiti-4139	49	4	a	a	DET
aiti-4139	49	5	m×n	m×n	ADJ
aiti-4139	49	6	matrix	matrix	NOUN
aiti-4139	49	7	and	and	CCONJ
aiti-4139	49	8	b	b	NOUN
aiti-4139	49	9	is	be	AUX
aiti-4139	49	10	a	a	DET
aiti-4139	49	11	p×q	p×q	PROPN
aiti-4139	49	12	matrix	matrix	NOUN
aiti-4139	49	13	,	,	PUNCT
aiti-4139	49	14	the	the	DET
aiti-4139	49	15	kronecker	kronecker	NOUN
aiti-4139	49	16	product	product	NOUN
aiti-4139	49	17	a	a	DET
aiti-4139	49	18	b	b	NOUN
aiti-4139	49	19	is	be	AUX
aiti-4139	49	20	defined	define	VERB
aiti-4139	49	21	as	as	SCONJ
aiti-4139	49	22	follows	follow	VERB
aiti-4139	49	23	;	;	PUNCT
aiti-4139	49	24	11	11	NUM
aiti-4139	49	25	1	1	NUM
aiti-4139	49	26	1	1	NUM
aiti-4139	49	27	n	n	PROPN
aiti-4139	49	28	mnm	mnm	PROPN
aiti-4139	49	29	mp	mp	PROPN
aiti-4139	49	30	nq	nq	PROPN
aiti-4139	49	31	a	a	DET
aiti-4139	49	32	b	b	PROPN
aiti-4139	49	33	a	a	DET
aiti-4139	49	34	b	b	NOUN
aiti-4139	49	35	a	a	DET
aiti-4139	49	36	b	b	NOUN
aiti-4139	49	37	a	a	DET
aiti-4139	49	38	b	b	NOUN
aiti-4139	50	1	a	a	DET
aiti-4139	50	2	b	b	PROPN
aiti-4139	50	3			PROPN
aiti-4139	50	4			PROPN
aiti-4139	50	5			PROPN
aiti-4139	50	6			PROPN
aiti-4139	50	7			PROPN
aiti-4139	50	8			INTJ
aiti-4139	50	9			PROPN
aiti-4139	50	10			PROPN
aiti-4139	50	11			PROPN
aiti-4139	50	12			PROPN
aiti-4139	51	1			PROPN
aiti-4139	51	2			NOUN
aiti-4139	51	3	(	(	PUNCT
aiti-4139	51	4	1	1	NUM
aiti-4139	51	5	)	)	PUNCT
aiti-4139	51	6	advances	advance	NOUN
aiti-4139	51	7	technology	technology	NOUN
aiti-4139	51	8	innovation	innovation	NOUN
aiti-4139	51	9	,	,	PUNCT
aiti-4139	51	10	vol	vol	NOUN
aiti-4139	51	11	.	.	PROPN
aiti-4139	51	12	4	4	NUM
aiti-4139	51	13	,	,	PUNCT
aiti-4139	51	14	no	no	INTJ
aiti-4139	51	15	.	.	NOUN
aiti-4139	51	16	4	4	NUM
aiti-4139	51	17	,	,	PUNCT
aiti-4139	51	18	2019	2019	NUM
aiti-4139	51	19	,	,	PUNCT
aiti-4139	51	20	pp	pp	ADJ
aiti-4139	51	21	.	.	PUNCT
aiti-4139	52	1	234	234	NUM
aiti-4139	52	2	-	-	SYM
aiti-4139	52	3	246	246	NUM
aiti-4139	52	4	236	236	NUM
aiti-4139	52	5	moreover	moreover	ADV
aiti-4139	52	6	,	,	PUNCT
aiti-4139	52	7	in	in	ADP
aiti-4139	52	8	this	this	DET
aiti-4139	52	9	paper	paper	NOUN
aiti-4139	52	10	,	,	PUNCT
aiti-4139	52	11	we	we	PRON
aiti-4139	52	12	express	express	VERB
aiti-4139	52	13	the	the	DET
aiti-4139	52	14	information	information	NOUN
aiti-4139	52	15	path	path	NOUN
aiti-4139	52	16	between	between	ADP
aiti-4139	52	17	agents	agent	NOUN
aiti-4139	52	18	based	base	VERB
aiti-4139	52	19	on	on	ADP
aiti-4139	52	20	graph	graph	NOUN
aiti-4139	52	21	theory	theory	NOUN
aiti-4139	52	22	[	[	X
aiti-4139	52	23	20	20	NUM
aiti-4139	52	24	]	]	PUNCT
aiti-4139	52	25	.	.	PUNCT
aiti-4139	53	1	the	the	DET
aiti-4139	53	2	graph	graph	NOUN
aiti-4139	53	3	is	be	AUX
aiti-4139	53	4	collection	collection	NOUN
aiti-4139	53	5	of	of	ADP
aiti-4139	53	6	vertices	vertex	NOUN
aiti-4139	53	7	and	and	CCONJ
aiti-4139	53	8	edges	edge	NOUN
aiti-4139	53	9	,	,	PUNCT
aiti-4139	53	10	and	and	CCONJ
aiti-4139	53	11	the	the	DET
aiti-4139	53	12	notation	notation	NOUN
aiti-4139	53	13	of	of	ADP
aiti-4139	53	14	a	a	DET
aiti-4139	53	15	graph	graph	NOUN
aiti-4139	53	16	is	be	AUX
aiti-4139	53	17	(	(	PUNCT
aiti-4139	53	18	,	,	PUNCT
aiti-4139	53	19	)	)	PUNCT
aiti-4139	54	1			PROPN
aiti-4139	54	2	,	,	PUNCT
aiti-4139	54	3	where	where	SCONJ
aiti-4139	54	4	{	{	PUNCT
aiti-4139	54	5	1,2	1,2	NUM
aiti-4139	54	6	,	,	PUNCT
aiti-4139	54	7	...	...	PUNCT
aiti-4139	54	8	,	,	PUNCT
aiti-4139	54	9	}	}	PUNCT
aiti-4139	54	10	n	n	PROPN
aiti-4139	54	11	is	be	AUX
aiti-4139	54	12	the	the	DET
aiti-4139	54	13	set	set	NOUN
aiti-4139	54	14	of	of	ADP
aiti-4139	54	15	n	n	NOUN
aiti-4139	54	16	vertices	vertex	NOUN
aiti-4139	54	17	in	in	ADP
aiti-4139	54	18	the	the	DET
aiti-4139	54	19	graph	graph	NOUN
aiti-4139	54	20	,	,	PUNCT
aiti-4139	54	21	and	and	CCONJ
aiti-4139	54	22			PROPN
aiti-4139	54	23	is	be	AUX
aiti-4139	54	24	the	the	DET
aiti-4139	54	25	set	set	NOUN
aiti-4139	54	26	of	of	ADP
aiti-4139	54	27	edges	edge	NOUN
aiti-4139	54	28	connecting	connect	VERB
aiti-4139	54	29	the	the	DET
aiti-4139	54	30	vertices	vertex	NOUN
aiti-4139	54	31	.	.	PUNCT
aiti-4139	55	1	note	note	VERB
aiti-4139	55	2	that	that	SCONJ
aiti-4139	55	3	there	there	PRON
aiti-4139	55	4	are	be	VERB
aiti-4139	55	5	two	two	NUM
aiti-4139	55	6	types	type	NOUN
aiti-4139	55	7	of	of	ADP
aiti-4139	55	8	graph	graph	NOUN
aiti-4139	55	9	,	,	PUNCT
aiti-4139	55	10	i.e.	i.e.	X
aiti-4139	55	11	undirected	undirected	ADJ
aiti-4139	55	12	graph	graph	NOUN
aiti-4139	55	13	and	and	CCONJ
aiti-4139	55	14	directed	direct	VERB
aiti-4139	55	15	one	one	NUM
aiti-4139	55	16	.	.	PUNCT
aiti-4139	56	1	in	in	ADP
aiti-4139	56	2	this	this	DET
aiti-4139	56	3	paper	paper	NOUN
aiti-4139	56	4	,	,	PUNCT
aiti-4139	56	5	we	we	PRON
aiti-4139	56	6	consider	consider	VERB
aiti-4139	56	7	the	the	DET
aiti-4139	56	8	directed	direct	VERB
aiti-4139	56	9	graph	graph	NOUN
aiti-4139	56	10	.	.	PUNCT
aiti-4139	57	1	furthermore	furthermore	ADV
aiti-4139	57	2	,	,	PUNCT
aiti-4139	57	3	we	we	PRON
aiti-4139	57	4	introduce	introduce	VERB
aiti-4139	57	5	an	an	DET
aiti-4139	57	6	adjacency	adjacency	NOUN
aiti-4139	57	7	matrix	matrix	NOUN
aiti-4139	57	8	,	,	PUNCT
aiti-4139	57	9	a	a	DET
aiti-4139	57	10	degree	degree	NOUN
aiti-4139	57	11	matrix	matrix	NOUN
aiti-4139	57	12	and	and	CCONJ
aiti-4139	57	13	a	a	DET
aiti-4139	57	14	graph	graph	NOUN
aiti-4139	57	15	laplacian	laplacian	NOUN
aiti-4139	57	16	in	in	ADP
aiti-4139	57	17	order	order	NOUN
aiti-4139	57	18	to	to	PART
aiti-4139	57	19	express	express	VERB
aiti-4139	57	20	the	the	DET
aiti-4139	57	21	graph	graph	NOUN
aiti-4139	57	22	algebraically	algebraically	ADV
aiti-4139	57	23	.	.	PUNCT
aiti-4139	58	1	the	the	DET
aiti-4139	58	2	adjacency	adjacency	NOUN
aiti-4139	58	3	matrix	matrix	NOUN
aiti-4139	58	4	represents	represent	VERB
aiti-4139	58	5	the	the	DET
aiti-4139	58	6	adjacency	adjacency	PROPN
aiti-4139	58	7	relation	relation	NOUN
aiti-4139	58	8	of	of	ADP
aiti-4139	58	9	each	each	DET
aiti-4139	58	10	vertex	vertex	NOUN
aiti-4139	58	11	of	of	ADP
aiti-4139	58	12	the	the	DET
aiti-4139	58	13	graph	graph	NOUN
aiti-4139	58	14	.	.	PUNCT
aiti-4139	59	1	in	in	ADP
aiti-4139	59	2	the	the	DET
aiti-4139	59	3	graph	graph	NOUN
aiti-4139	59	4	(	(	PUNCT
aiti-4139	59	5	,	,	PUNCT
aiti-4139	59	6	)	)	PUNCT
aiti-4139	59	7			NOUN
aiti-4139	59	8	for	for	ADP
aiti-4139	59	9	a	a	DET
aiti-4139	59	10	pair	pair	NOUN
aiti-4139	59	11	(	(	PUNCT
aiti-4139	59	12	,	,	PUNCT
aiti-4139	59	13	)	)	PUNCT
aiti-4139	59	14	i	i	PRON
aiti-4139	59	15	j	j	PROPN
aiti-4139	59	16			X
aiti-4139	59	17	that	that	PRON
aiti-4139	59	18	is	be	AUX
aiti-4139	59	19	,	,	PUNCT
aiti-4139	59	20	there	there	PRON
aiti-4139	59	21	is	be	VERB
aiti-4139	59	22	an	an	DET
aiti-4139	59	23	edge	edge	NOUN
aiti-4139	59	24	from	from	ADP
aiti-4139	59	25	j	j	PROPN
aiti-4139	59	26	to	to	PART
aiti-4139	59	27	i	i	VERB
aiti-4139	59	28	the	the	DET
aiti-4139	59	29	vertex	vertex	NOUN
aiti-4139	59	30	i	i	PRON
aiti-4139	59	31	is	be	AUX
aiti-4139	59	32	said	say	VERB
aiti-4139	59	33	to	to	PART
aiti-4139	59	34	be	be	AUX
aiti-4139	59	35	adjacent	adjacent	ADJ
aiti-4139	59	36	to	to	ADP
aiti-4139	59	37	j	j	PROPN
aiti-4139	59	38	.	.	PUNCT
aiti-4139	60	1	in	in	ADP
aiti-4139	60	2	this	this	DET
aiti-4139	60	3	case	case	NOUN
aiti-4139	60	4	,	,	PUNCT
aiti-4139	60	5	the	the	DET
aiti-4139	60	6	adjacent	adjacent	ADJ
aiti-4139	60	7	set	set	NOUN
aiti-4139	60	8	of	of	ADP
aiti-4139	60	9	vertices	vertex	NOUN
aiti-4139	60	10	i	i	PRON
aiti-4139	60	11	is	be	AUX
aiti-4139	60	12			PROPN
aiti-4139	60	13	|	|	NOUN
aiti-4139	60	14	(	(	PUNCT
aiti-4139	60	15	,	,	PUNCT
aiti-4139	60	16	)	)	PUNCT
aiti-4139	61	1	i	i	PRON
aiti-4139	61	2	j	j	VERB
aiti-4139	62	1	i	i	PRON
aiti-4139	62	2	j	j	PROPN
aiti-4139	62	3			NUM
aiti-4139	62	4			NOUN
aiti-4139	62	5	,	,	PUNCT
aiti-4139	62	6	and	and	CCONJ
aiti-4139	62	7	the	the	DET
aiti-4139	62	8	elements	element	NOUN
aiti-4139	62	9	ija	ija	PROPN
aiti-4139	62	10	of	of	ADP
aiti-4139	62	11	ija	ija	X
aiti-4139	62	12			PROPN
aiti-4139	62	13			PROPN
aiti-4139	62	14			PROPN
aiti-4139	62	15	is	be	AUX
aiti-4139	62	16	defined	define	VERB
aiti-4139	62	17	as	as	ADP
aiti-4139	62	18	1	1	NUM
aiti-4139	62	19	if	if	SCONJ
aiti-4139	62	20	(	(	PUNCT
aiti-4139	62	21	,	,	PUNCT
aiti-4139	62	22	)	)	PUNCT
aiti-4139	62	23	and	and	CCONJ
aiti-4139	62	24	0	0	NUM
aiti-4139	63	1	otherwise	otherwise	ADV
aiti-4139	64	1	ij	ij	INTJ
aiti-4139	65	1	i	i	PRON
aiti-4139	65	2	j	j	VERB
aiti-4139	66	1	i	i	PRON
aiti-4139	66	2	j	j	PROPN
aiti-4139	66	3	a	a	DET
aiti-4139	66	4			X
aiti-4139	66	5			PUNCT
aiti-4139	66	6			NUM
aiti-4139	66	7			NUM
aiti-4139	66	8			PROPN
aiti-4139	66	9	(	(	PUNCT
aiti-4139	66	10	2	2	NUM
aiti-4139	66	11	)	)	PUNCT
aiti-4139	66	12	additionally	additionally	ADV
aiti-4139	66	13	,	,	PUNCT
aiti-4139	66	14	in	in	ADP
aiti-4139	66	15	the	the	DET
aiti-4139	66	16	directed	direct	VERB
aiti-4139	66	17	graph	graph	NOUN
aiti-4139	66	18	(	(	PUNCT
aiti-4139	66	19	,	,	PUNCT
aiti-4139	66	20	)	)	PUNCT
aiti-4139	66	21			PROPN
aiti-4139	66	22	,	,	PUNCT
aiti-4139	66	23	the	the	DET
aiti-4139	66	24	in	in	NOUN
aiti-4139	66	25	-	-	PUNCT
aiti-4139	66	26	degree	degree	NOUN
aiti-4139	66	27	of	of	ADP
aiti-4139	66	28	a	a	DET
aiti-4139	66	29	vertex	vertex	NOUN
aiti-4139	66	30	represents	represent	VERB
aiti-4139	66	31	the	the	DET
aiti-4139	66	32	number	number	NOUN
aiti-4139	66	33	of	of	ADP
aiti-4139	66	34	edges	edge	NOUN
aiti-4139	66	35	incoming	incoming	ADJ
aiti-4139	66	36	to	to	ADP
aiti-4139	66	37	the	the	DET
aiti-4139	66	38	vertex	vertex	NOUN
aiti-4139	66	39	and	and	CCONJ
aiti-4139	66	40	it	it	PRON
aiti-4139	66	41	is	be	AUX
aiti-4139	66	42	denoted	denote	VERB
aiti-4139	66	43	as	as	ADP
aiti-4139	66	44	in	in	ADP
aiti-4139	66	45	i	i	PROPN
aiti-4139	66	46	d	d	PROPN
aiti-4139	66	47	.	.	PUNCT
aiti-4139	67	1	conversely	conversely	ADV
aiti-4139	67	2	,	,	PUNCT
aiti-4139	67	3	out	out	ADJ
aiti-4139	67	4	-	-	PUNCT
aiti-4139	67	5	degree	degree	NOUN
aiti-4139	67	6	means	mean	VERB
aiti-4139	67	7	the	the	DET
aiti-4139	67	8	number	number	NOUN
aiti-4139	67	9	of	of	ADP
aiti-4139	67	10	edges	edge	NOUN
aiti-4139	67	11	outgoing	outgoing	ADJ
aiti-4139	67	12	from	from	ADP
aiti-4139	67	13	a	a	DET
aiti-4139	67	14	vertex	vertex	NOUN
aiti-4139	67	15	.	.	PUNCT
aiti-4139	68	1	then	then	ADV
aiti-4139	68	2	for	for	ADP
aiti-4139	68	3	the	the	DET
aiti-4139	68	4	graph	graph	NOUN
aiti-4139	68	5	(	(	PUNCT
aiti-4139	68	6	,	,	PUNCT
aiti-4139	68	7	)	)	PUNCT
aiti-4139	68	8			PROPN
aiti-4139	68	9	,	,	PUNCT
aiti-4139	68	10	the	the	DET
aiti-4139	68	11	degree	degree	NOUN
aiti-4139	68	12	matrix	matrix	NOUN
aiti-4139	68	13	n	n	PRON
aiti-4139	68	14	n	n	NOUN
aiti-4139	68	15	and	and	CCONJ
aiti-4139	68	16	the	the	DET
aiti-4139	68	17	graph	graph	NOUN
aiti-4139	68	18	laplacian	laplacian	NOUN
aiti-4139	68	19	are	be	AUX
aiti-4139	68	20	defined	define	VERB
aiti-4139	68	21	as	as	ADP
aiti-4139	68	22	1	1	NUM
aiti-4139	68	23	2	2	NUM
aiti-4139	68	24	(	(	PUNCT
aiti-4139	68	25	,	,	PUNCT
aiti-4139	68	26	,	,	PUNCT
aiti-4139	68	27	...	...	PUNCT
aiti-4139	68	28	,	,	PUNCT
aiti-4139	68	29	)	)	PUNCT
aiti-4139	68	30	ndiag	ndiag	PROPN
aiti-4139	68	31	a	a	DET
aiti-4139	68	32	a	a	DET
aiti-4139	68	33	a	a	PRON
aiti-4139	68	34	(	(	PUNCT
aiti-4139	68	35	3	3	NUM
aiti-4139	68	36	)	)	PUNCT
aiti-4139	68	37			NOUN
aiti-4139	68	38	(	(	PUNCT
aiti-4139	68	39	4	4	NUM
aiti-4139	68	40	)	)	PUNCT
aiti-4139	68	41	furthermore	furthermore	ADV
aiti-4139	68	42	,	,	PUNCT
aiti-4139	68	43	the	the	DET
aiti-4139	68	44	following	follow	VERB
aiti-4139	68	45	useful	useful	ADJ
aiti-4139	68	46	lemma	lemma	PROPN
aiti-4139	68	47	is	be	AUX
aiti-4139	68	48	used	use	VERB
aiti-4139	68	49	in	in	ADP
aiti-4139	68	50	this	this	DET
aiti-4139	68	51	paper	paper	NOUN
aiti-4139	68	52	:	:	PUNCT
aiti-4139	68	53	lemma	lemma	PROPN
aiti-4139	68	54	1	1	NUM
aiti-4139	69	1	[	[	X
aiti-4139	69	2	21	21	NUM
aiti-4139	69	3	]	]	X
aiti-4139	69	4	:	:	PUNCT
aiti-4139	69	5	for	for	ADP
aiti-4139	69	6	arbitrary	arbitrary	ADJ
aiti-4139	69	7	vectors	vectors	NOUN
aiti-4139	69	8	and	and	CCONJ
aiti-4139	69	9			NOUN
aiti-4139	69	10	,	,	PUNCT
aiti-4139	69	11	matrices	matrice	VERB
aiti-4139	69	12	g	g	NOUN
aiti-4139	69	13	and	and	CCONJ
aiti-4139	69	14	h	h	NOUN
aiti-4139	69	15	with	with	ADP
aiti-4139	69	16	appropriate	appropriate	ADJ
aiti-4139	69	17	dimensions	dimension	NOUN
aiti-4139	69	18	,	,	PUNCT
aiti-4139	69	19	the	the	DET
aiti-4139	69	20	following	follow	VERB
aiti-4139	69	21	inequality	inequality	NOUN
aiti-4139	69	22	holds	hold	VERB
aiti-4139	69	23	:	:	PUNCT
aiti-4139	69	24	2	2	NUM
aiti-4139	69	25	2	2	NUM
aiti-4139	69	26	t	t	NOUN
aiti-4139	69	27	tgh	tgh	NOUN
aiti-4139	69	28	g	g	PROPN
aiti-4139	69	29	h	h	PROPN
aiti-4139	69	30			PROPN
aiti-4139	69	31			NOUN
aiti-4139	69	32			NOUN
aiti-4139	69	33	(	(	PUNCT
aiti-4139	69	34	5	5	NUM
aiti-4139	69	35	)	)	PUNCT
aiti-4139	69	36	3	3	NUM
aiti-4139	69	37	.	.	X
aiti-4139	69	38	problem	problem	NOUN
aiti-4139	69	39	formulation	formulation	NOUN
aiti-4139	69	40	fig	fig	NOUN
aiti-4139	69	41	.	.	PUNCT
aiti-4139	70	1	1	1	NUM
aiti-4139	70	2	multi	multi	ADJ
aiti-4139	70	3	-	-	ADJ
aiti-4139	70	4	agent	agent	ADJ
aiti-4139	70	5	system	system	NOUN
aiti-4139	70	6	in	in	ADP
aiti-4139	70	7	this	this	DET
aiti-4139	70	8	paper	paper	NOUN
aiti-4139	70	9	in	in	ADP
aiti-4139	70	10	fig.1	fig.1	PROPN
aiti-4139	70	11	,	,	PUNCT
aiti-4139	70	12	the	the	DET
aiti-4139	70	13	triangle	triangle	NOUN
aiti-4139	70	14	“	"	PUNCT
aiti-4139	70	15	i	i	PRON
aiti-4139	70	16	”	"	PUNCT
aiti-4139	70	17	represents	represent	VERB
aiti-4139	70	18	i	i	PRON
aiti-4139	70	19	-th	-th	ADJ
aiti-4139	70	20	agent(i=1,2,3	agent(i=1,2,3	NOUN
aiti-4139	70	21	)	)	PUNCT
aiti-4139	70	22	.	.	PUNCT
aiti-4139	71	1	moreover	moreover	ADV
aiti-4139	71	2	“	"	PUNCT
aiti-4139	71	3	l	l	NOUN
aiti-4139	71	4	”	"	PUNCT
aiti-4139	71	5	means	mean	VERB
aiti-4139	71	6	the	the	DET
aiti-4139	71	7	leader	leader	NOUN
aiti-4139	71	8	and	and	CCONJ
aiti-4139	71	9	the	the	DET
aiti-4139	71	10	others	other	NOUN
aiti-4139	71	11	are	be	AUX
aiti-4139	71	12	followers	follower	NOUN
aiti-4139	71	13	,	,	PUNCT
aiti-4139	71	14	and	and	CCONJ
aiti-4139	71	15	arrows	arrow	NOUN
aiti-4139	71	16	indicate	indicate	VERB
aiti-4139	71	17	communication	communication	NOUN
aiti-4139	71	18	paths	path	NOUN
aiti-4139	71	19	.	.	PUNCT
aiti-4139	72	1	then	then	ADV
aiti-4139	72	2	,	,	PUNCT
aiti-4139	72	3	the	the	DET
aiti-4139	72	4	adjacency	adjacency	NOUN
aiti-4139	72	5	matrix	matrix	NOUN
aiti-4139	72	6	,	,	PUNCT
aiti-4139	72	7	the	the	DET
aiti-4139	72	8	degree	degree	NOUN
aiti-4139	72	9	matrix	matrix	NOUN
aiti-4139	72	10	,	,	PUNCT
aiti-4139	72	11	and	and	CCONJ
aiti-4139	72	12	the	the	DET
aiti-4139	72	13	graph	graph	NOUN
aiti-4139	72	14	laplacian	laplacian	NOUN
aiti-4139	72	15	in	in	ADP
aiti-4139	72	16	fig.1	fig.1	PROPN
aiti-4139	72	17	can	can	AUX
aiti-4139	72	18	be	be	AUX
aiti-4139	72	19	obtained	obtain	VERB
aiti-4139	72	20	as	as	ADP
aiti-4139	72	21	0	0	NUM
aiti-4139	72	22	0	0	NUM
aiti-4139	72	23	0	0	NUM
aiti-4139	72	24	2	2	NUM
aiti-4139	72	25	0	0	NUM
aiti-4139	72	26	0	0	NUM
aiti-4139	72	27	2	2	NUM
aiti-4139	72	28	0	0	NUM
aiti-4139	72	29	0	0	NUM
aiti-4139	72	30	1	1	NUM
aiti-4139	72	31	0	0	NUM
aiti-4139	72	32	1	1	NUM
aiti-4139	72	33	,	,	PUNCT
aiti-4139	72	34	0	0	NUM
aiti-4139	72	35	2	2	NUM
aiti-4139	72	36	0	0	NUM
aiti-4139	72	37	,	,	PUNCT
aiti-4139	72	38	1	1	NUM
aiti-4139	72	39	2	2	NUM
aiti-4139	72	40	1	1	NUM
aiti-4139	72	41	1	1	NUM
aiti-4139	72	42	1	1	NUM
aiti-4139	72	43	0	0	NUM
aiti-4139	72	44	0	0	NUM
aiti-4139	72	45	0	0	NUM
aiti-4139	72	46	2	2	NUM
aiti-4139	72	47	1	1	NUM
aiti-4139	72	48	1	1	NUM
aiti-4139	72	49	2	2	NUM
aiti-4139	72	50			NOUN
aiti-4139	72	51			NOUN
aiti-4139	72	52			NOUN
aiti-4139	72	53			PROPN
aiti-4139	73	1			NOUN
aiti-4139	73	2			PROPN
aiti-4139	74	1			PROPN
aiti-4139	75	1			PROPN
aiti-4139	76	1			PROPN
aiti-4139	77	1			INTJ
aiti-4139	78	1			PROPN
aiti-4139	78	2			PROPN
aiti-4139	79	1			NUM
aiti-4139	80	1			PROPN
aiti-4139	80	2			PROPN
aiti-4139	80	3			PROPN
aiti-4139	80	4			PROPN
aiti-4139	80	5			PROPN
aiti-4139	81	1			PROPN
aiti-4139	82	1			INTJ
aiti-4139	83	1			PROPN
aiti-4139	84	1			INTJ
aiti-4139	85	1			PROPN
aiti-4139	86	1			INTJ
aiti-4139	87	1			PROPN
aiti-4139	87	2			PROPN
aiti-4139	87	3			PROPN
aiti-4139	87	4			NOUN
aiti-4139	87	5			NOUN
aiti-4139	87	6			NOUN
aiti-4139	87	7			PROPN
aiti-4139	87	8			NOUN
aiti-4139	87	9			PROPN
aiti-4139	87	10			NOUN
aiti-4139	87	11	(	(	PUNCT
aiti-4139	87	12	6	6	NUM
aiti-4139	87	13	)	)	PUNCT
aiti-4139	87	14	now	now	ADV
aiti-4139	87	15	we	we	PRON
aiti-4139	87	16	assume	assume	VERB
aiti-4139	87	17	that	that	SCONJ
aiti-4139	87	18	i	i	PRON
aiti-4139	87	19	-th	-th	NOUN
aiti-4139	87	20	agent	agent	NOUN
aiti-4139	87	21	(	(	PUNCT
aiti-4139	87	22	,	,	PUNCT
aiti-4139	87	23	2,3i	2,3i	NUM
aiti-4139	87	24	l	l	NOUN
aiti-4139	87	25	)	)	PUNCT
aiti-4139	87	26	can	can	AUX
aiti-4139	87	27	be	be	AUX
aiti-4139	87	28	described	describe	VERB
aiti-4139	87	29	as	as	ADP
aiti-4139	87	30	the	the	DET
aiti-4139	87	31	following	follow	VERB
aiti-4139	87	32	state	state	NOUN
aiti-4139	87	33	equation	equation	NOUN
aiti-4139	87	34	:	:	PUNCT
aiti-4139	88	1	advances	advance	NOUN
aiti-4139	88	2	technology	technology	NOUN
aiti-4139	88	3	innovation	innovation	NOUN
aiti-4139	88	4	,	,	PUNCT
aiti-4139	88	5	vol	vol	NOUN
aiti-4139	88	6	.	.	PROPN
aiti-4139	88	7	4	4	NUM
aiti-4139	88	8	,	,	PUNCT
aiti-4139	88	9	no	no	INTJ
aiti-4139	88	10	.	.	NOUN
aiti-4139	88	11	4	4	NUM
aiti-4139	88	12	,	,	PUNCT
aiti-4139	88	13	2019	2019	NUM
aiti-4139	88	14	,	,	PUNCT
aiti-4139	88	15	pp	pp	ADJ
aiti-4139	88	16	.	.	PUNCT
aiti-4139	89	1	234	234	NUM
aiti-4139	89	2	-	-	SYM
aiti-4139	89	3	246	246	NUM
aiti-4139	89	4	237	237	NUM
aiti-4139	89	5	(	(	PUNCT
aiti-4139	89	6	)	)	PUNCT
aiti-4139	89	7	(	(	PUNCT
aiti-4139	89	8	)	)	PUNCT
aiti-4139	89	9	(	(	PUNCT
aiti-4139	89	10	)	)	PUNCT
aiti-4139	89	11	(	(	PUNCT
aiti-4139	89	12	1,2,3)i	1,2,3)i	NUM
aiti-4139	90	1	i	i	PRON
aiti-4139	90	2	i	i	PRON
aiti-4139	91	1	d	d	NOUN
aiti-4139	91	2	dt	dt	X
aiti-4139	91	3	x	x	SYM
aiti-4139	91	4	t	t	NOUN
aiti-4139	91	5	ax	ax	NOUN
aiti-4139	91	6	t	t	PROPN
aiti-4139	91	7	bu	bu	PROPN
aiti-4139	91	8	t	t	PROPN
aiti-4139	91	9	i	i	PROPN
aiti-4139	91	10			ADV
aiti-4139	91	11			PROPN
aiti-4139	91	12	(	(	PUNCT
aiti-4139	91	13	7	7	NUM
aiti-4139	91	14	)	)	PUNCT
aiti-4139	91	15	where	where	SCONJ
aiti-4139	91	16	(	(	PUNCT
aiti-4139	91	17	)	)	PUNCT
aiti-4139	91	18	n	n	CCONJ
aiti-4139	91	19	ix	ix	ADP
aiti-4139	91	20	t	t	PROPN
aiti-4139	91	21			PROPN
aiti-4139	91	22	and	and	CCONJ
aiti-4139	91	23	(	(	PUNCT
aiti-4139	91	24	)	)	PUNCT
aiti-4139	91	25	m	m	VERB
aiti-4139	91	26	iu	iu	ADP
aiti-4139	91	27	t	t	PROPN
aiti-4139	91	28			NOUN
aiti-4139	91	29	are	be	AUX
aiti-4139	91	30	the	the	DET
aiti-4139	91	31	vectors	vector	NOUN
aiti-4139	91	32	of	of	ADP
aiti-4139	91	33	the	the	DET
aiti-4139	91	34	state	state	NOUN
aiti-4139	91	35	and	and	CCONJ
aiti-4139	91	36	the	the	DET
aiti-4139	91	37	control	control	NOUN
aiti-4139	91	38	input	input	NOUN
aiti-4139	91	39	,	,	PUNCT
aiti-4139	91	40	and	and	CCONJ
aiti-4139	91	41	the	the	DET
aiti-4139	91	42	state	state	NOUN
aiti-4139	91	43	(	(	PUNCT
aiti-4139	91	44	)	)	PUNCT
aiti-4139	91	45	n	n	CCONJ
aiti-4139	91	46	ix	ix	PROPN
aiti-4139	91	47	t	t	PROPN
aiti-4139	91	48			NOUN
aiti-4139	91	49	is	be	AUX
aiti-4139	91	50	given	give	VERB
aiti-4139	91	51	by	by	ADP
aiti-4139	91	52			NOUN
aiti-4139	91	53			PROPN
aiti-4139	91	54	(	(	PUNCT
aiti-4139	91	55	)	)	PUNCT
aiti-4139	91	56	(	(	PUNCT
aiti-4139	91	57	)	)	PUNCT
aiti-4139	91	58	(	(	PUNCT
aiti-4139	91	59	)	)	PUNCT
aiti-4139	91	60	(	(	PUNCT
aiti-4139	91	61	)	)	PUNCT
aiti-4139	91	62	(	(	PUNCT
aiti-4139	91	63	)	)	PUNCT
aiti-4139	91	64	t	t	NOUN
aiti-4139	91	65	i	i	PRON
aiti-4139	92	1	xi	xi	INTJ
aiti-4139	92	2	xi	xi	PROPN
aiti-4139	93	1	yi	yi	PROPN
aiti-4139	94	1	yix	yix	PROPN
aiti-4139	94	2	t	t	NOUN
aiti-4139	94	3	x	x	PROPN
aiti-4139	94	4	t	t	PROPN
aiti-4139	94	5	v	v	NUM
aiti-4139	94	6	t	t	PROPN
aiti-4139	94	7	x	x	SYM
aiti-4139	94	8	t	t	NOUN
aiti-4139	94	9	v	v	NUM
aiti-4139	94	10	t	t	PROPN
aiti-4139	94	11	(	(	PUNCT
aiti-4139	94	12	8)	8)	NUM
aiti-4139	94	13	i.e.	i.e.	X
aiti-4139	94	14	the	the	DET
aiti-4139	94	15	state	state	NOUN
aiti-4139	94	16	(	(	PUNCT
aiti-4139	94	17	)	)	PUNCT
aiti-4139	94	18	xix	xix	PROPN
aiti-4139	94	19	t	t	PROPN
aiti-4139	94	20	(	(	PUNCT
aiti-4139	94	21	resp	resp	PROPN
aiti-4139	94	22	.	.	PUNCT
aiti-4139	95	1	(	(	PUNCT
aiti-4139	95	2	)	)	PUNCT
aiti-4139	95	3	yix	yix	PROPN
aiti-4139	95	4	t	t	PROPN
aiti-4139	95	5	)	)	PUNCT
aiti-4139	95	6	is	be	AUX
aiti-4139	95	7	the	the	DET
aiti-4139	95	8	position	position	NOUN
aiti-4139	95	9	in	in	ADP
aiti-4139	95	10	x	x	NOUN
aiti-4139	95	11	-	-	NOUN
aiti-4139	95	12	axis	axis	ADJ
aiti-4139	95	13	(	(	PUNCT
aiti-4139	95	14	resp	resp	NOUN
aiti-4139	95	15	.	.	PUNCT
aiti-4139	96	1	y	y	NOUN
aiti-4139	96	2	-	-	PUNCT
aiti-4139	96	3	axis	axis	NOUN
aiti-4139	96	4	)	)	PUNCT
aiti-4139	96	5	,	,	PUNCT
aiti-4139	96	6	and	and	CCONJ
aiti-4139	96	7	(	(	PUNCT
aiti-4139	96	8	)	)	PUNCT
aiti-4139	96	9	xiv	xiv	PROPN
aiti-4139	96	10	t	t	PROPN
aiti-4139	96	11	(	(	PUNCT
aiti-4139	96	12	resp	resp	PROPN
aiti-4139	96	13	.	.	PUNCT
aiti-4139	97	1	(	(	PUNCT
aiti-4139	97	2	)	)	PUNCT
aiti-4139	97	3	yiv	yiv	PROPN
aiti-4139	97	4	t	t	NOUN
aiti-4139	97	5	)	)	PUNCT
aiti-4139	97	6	is	be	AUX
aiti-4139	97	7	velocity	velocity	NOUN
aiti-4139	97	8	in	in	ADP
aiti-4139	97	9	x	x	NOUN
aiti-4139	97	10	-	-	NOUN
aiti-4139	97	11	axis	axis	ADJ
aiti-4139	97	12	(	(	PUNCT
aiti-4139	97	13	resp	resp	NOUN
aiti-4139	97	14	.	.	PUNCT
aiti-4139	97	15	yaxis	yaxis	PROPN
aiti-4139	97	16	)	)	PUNCT
aiti-4139	97	17	for	for	ADP
aiti-4139	97	18	the	the	DET
aiti-4139	97	19	i	i	PROPN
aiti-4139	97	20	-th	-th	NOUN
aiti-4139	97	21	agent	agent	NOUN
aiti-4139	97	22	.	.	PUNCT
aiti-4139	98	1	in	in	ADP
aiti-4139	98	2	(	(	PUNCT
aiti-4139	98	3	7	7	NUM
aiti-4139	98	4	)	)	PUNCT
aiti-4139	98	5	,	,	PUNCT
aiti-4139	98	6	l	l	NOUN
aiti-4139	98	7	na	na	NOUN
aiti-4139	98	8			NOUN
aiti-4139	98	9	and	and	CCONJ
aiti-4139	98	10	l	l	NOUN
aiti-4139	98	11	mb	mb	PROPN
aiti-4139	98	12			NOUN
aiti-4139	98	13	are	be	AUX
aiti-4139	98	14	the	the	DET
aiti-4139	98	15	system	system	NOUN
aiti-4139	98	16	parameters	parameter	NOUN
aiti-4139	98	17	which	which	PRON
aiti-4139	98	18	are	be	AUX
aiti-4139	98	19	defined	define	VERB
aiti-4139	98	20	as	as	ADP
aiti-4139	98	21	0	0	NUM
aiti-4139	98	22	1	1	NUM
aiti-4139	98	23	0	0	NUM
aiti-4139	98	24	0	0	NUM
aiti-4139	98	25	0	0	NUM
aiti-4139	98	26	0	0	NUM
aiti-4139	98	27	0	0	NUM
aiti-4139	98	28	0	0	NUM
aiti-4139	98	29	0	0	NUM
aiti-4139	98	30	0	0	NUM
aiti-4139	98	31	1	1	NUM
aiti-4139	98	32	0	0	NUM
aiti-4139	98	33	,	,	PUNCT
aiti-4139	98	34	0	0	NUM
aiti-4139	98	35	0	0	NUM
aiti-4139	98	36	0	0	NUM
aiti-4139	98	37	1	1	NUM
aiti-4139	98	38	0	0	NUM
aiti-4139	98	39	0	0	NUM
aiti-4139	98	40	0	0	NUM
aiti-4139	98	41	0	0	NUM
aiti-4139	98	42	0	0	NUM
aiti-4139	98	43	0	0	NUM
aiti-4139	98	44	0	0	NUM
aiti-4139	98	45	1	1	NUM
aiti-4139	98	46	a	a	DET
aiti-4139	98	47	b	b	PROPN
aiti-4139	98	48			NOUN
aiti-4139	98	49			PROPN
aiti-4139	98	50			NOUN
aiti-4139	98	51			PROPN
aiti-4139	99	1			PROPN
aiti-4139	99	2			PROPN
aiti-4139	100	1			PROPN
aiti-4139	101	1			INTJ
aiti-4139	102	1			PROPN
aiti-4139	103	1			PROPN
aiti-4139	104	1			PROPN
aiti-4139	104	2			NOUN
aiti-4139	105	1			PROPN
aiti-4139	105	2			PROPN
aiti-4139	106	1			INTJ
aiti-4139	107	1			PROPN
aiti-4139	108	1			INTJ
aiti-4139	109	1			PROPN
aiti-4139	110	1			INTJ
aiti-4139	111	1			PROPN
aiti-4139	111	2			PROPN
aiti-4139	112	1			ADJ
aiti-4139	112	2			PROPN
aiti-4139	112	3			PROPN
aiti-4139	112	4			NOUN
aiti-4139	112	5	(	(	PUNCT
aiti-4139	112	6	9	9	NUM
aiti-4139	112	7	)	)	PUNCT
aiti-4139	112	8	here	here	ADV
aiti-4139	112	9	,	,	PUNCT
aiti-4139	112	10	in	in	ADP
aiti-4139	112	11	order	order	NOUN
aiti-4139	112	12	to	to	PART
aiti-4139	112	13	consider	consider	VERB
aiti-4139	112	14	the	the	DET
aiti-4139	112	15	relative	relative	ADJ
aiti-4139	112	16	positions	position	NOUN
aiti-4139	112	17	between	between	ADP
aiti-4139	112	18	agents	agent	NOUN
aiti-4139	112	19	,	,	PUNCT
aiti-4139	112	20	we	we	PRON
aiti-4139	112	21	introduce	introduce	VERB
aiti-4139	112	22	the	the	DET
aiti-4139	112	23	following	follow	VERB
aiti-4139	112	24	vectors	vector	NOUN
aiti-4139	112	25	:	:	PUNCT
aiti-4139	112	26			NOUN
aiti-4139	112	27	ˆ	ˆ	NOUN
aiti-4139	112	28	ˆ	ˆ	ADP
aiti-4139	112	29	t	t	NOUN
aiti-4139	113	1	i	i	PRON
aiti-4139	113	2	xi	xi	INTJ
aiti-4139	113	3	xi	xi	PROPN
aiti-4139	113	4	yi	yi	PROPN
aiti-4139	113	5	yid	yid	PROPN
aiti-4139	114	1	d	d	X
aiti-4139	114	2	v	v	PROPN
aiti-4139	114	3	d	d	X
aiti-4139	114	4	v	v	ADV
aiti-4139	114	5	(	(	PUNCT
aiti-4139	114	6	10	10	NUM
aiti-4139	114	7	)	)	PUNCT
aiti-4139	114	8	where	where	SCONJ
aiti-4139	114	9	xid	xid	PROPN
aiti-4139	114	10	(	(	PUNCT
aiti-4139	114	11	resp	resp	PROPN
aiti-4139	114	12	.	.	PUNCT
aiti-4139	114	13	yid	yid	PROPN
aiti-4139	114	14	)	)	PUNCT
aiti-4139	114	15	is	be	AUX
aiti-4139	114	16	the	the	DET
aiti-4139	114	17	desired	desire	VERB
aiti-4139	114	18	relative	relative	ADJ
aiti-4139	114	19	position	position	NOUN
aiti-4139	114	20	in	in	ADP
aiti-4139	114	21	x	x	NOUN
aiti-4139	114	22	-	-	NOUN
aiti-4139	114	23	axis	axis	ADJ
aiti-4139	114	24	(	(	PUNCT
aiti-4139	114	25	resp	resp	NOUN
aiti-4139	114	26	.	.	PUNCT
aiti-4139	115	1	y	y	NOUN
aiti-4139	115	2	-	-	PUNCT
aiti-4139	115	3	axis	axis	NOUN
aiti-4139	115	4	)	)	PUNCT
aiti-4139	115	5	between	between	ADP
aiti-4139	115	6	the	the	DET
aiti-4139	115	7	i	i	PROPN
aiti-4139	115	8	-th	-th	NOUN
aiti-4139	115	9	agent	agent	NOUN
aiti-4139	115	10	and	and	CCONJ
aiti-4139	115	11	the	the	DET
aiti-4139	115	12	leader	leader	NOUN
aiti-4139	115	13	agent	agent	NOUN
aiti-4139	115	14	.	.	PUNCT
aiti-4139	116	1	similarly	similarly	ADV
aiti-4139	116	2	,	,	PUNCT
aiti-4139	116	3	ˆxiv	ˆxiv	PROPN
aiti-4139	116	4	and	and	CCONJ
aiti-4139	116	5	ˆyiv	ˆyiv	ADJ
aiti-4139	116	6	are	be	AUX
aiti-4139	116	7	the	the	DET
aiti-4139	116	8	target	target	NOUN
aiti-4139	116	9	velocity	velocity	NOUN
aiti-4139	116	10	.	.	PUNCT
aiti-4139	117	1	note	note	VERB
aiti-4139	117	2	that	that	SCONJ
aiti-4139	117	3	one	one	PRON
aiti-4139	117	4	can	can	AUX
aiti-4139	117	5	see	see	VERB
aiti-4139	117	6	that	that	DET
aiti-4139	117	7	0ld	0ld	NOUN
aiti-4139	117	8	.	.	PUNCT
aiti-4139	118	1	here	here	ADV
aiti-4139	118	2	,	,	PUNCT
aiti-4139	118	3	we	we	PRON
aiti-4139	118	4	consider	consider	VERB
aiti-4139	118	5	the	the	DET
aiti-4139	118	6	difference	difference	NOUN
aiti-4139	118	7	between	between	ADP
aiti-4139	118	8	the	the	DET
aiti-4139	118	9	actual	actual	ADJ
aiti-4139	118	10	position	position	NOUN
aiti-4139	118	11	of	of	ADP
aiti-4139	118	12	the	the	DET
aiti-4139	118	13	agent	agent	NOUN
aiti-4139	118	14	(	(	PUNCT
aiti-4139	118	15	(	(	PUNCT
aiti-4139	118	16	)	)	PUNCT
aiti-4139	118	17	)	)	PUNCT
aiti-4139	118	18	ix	ix	ADP
aiti-4139	118	19	t	t	PROPN
aiti-4139	118	20	and	and	CCONJ
aiti-4139	118	21	the	the	DET
aiti-4139	118	22	desired	desire	VERB
aiti-4139	118	23	relative	relative	ADJ
aiti-4139	118	24	position	position	NOUN
aiti-4139	118	25	between	between	ADP
aiti-4139	118	26	the	the	DET
aiti-4139	118	27	leader	leader	NOUN
aiti-4139	118	28	and	and	CCONJ
aiti-4139	118	29	the	the	DET
aiti-4139	118	30	follower	follower	NOUN
aiti-4139	118	31	i	i	PROPN
aiti-4139	118	32	d	d	PROPN
aiti-4139	118	33	as	as	ADP
aiti-4139	118	34	a	a	DET
aiti-4139	118	35	new	new	ADJ
aiti-4139	118	36	state	state	NOUN
aiti-4139	118	37	of	of	ADP
aiti-4139	118	38	the	the	DET
aiti-4139	118	39	system	system	NOUN
aiti-4139	118	40	.	.	PUNCT
aiti-4139	119	1	from	from	ADP
aiti-4139	119	2	(	(	PUNCT
aiti-4139	119	3	7	7	NUM
aiti-4139	119	4	)	)	PUNCT
aiti-4139	119	5	,	,	PUNCT
aiti-4139	119	6	the	the	DET
aiti-4139	119	7	state	state	NOUN
aiti-4139	119	8	equation	equation	NOUN
aiti-4139	119	9	of	of	ADP
aiti-4139	119	10	each	each	DET
aiti-4139	119	11	follower	follower	NOUN
aiti-4139	119	12	considering	consider	VERB
aiti-4139	119	13	the	the	DET
aiti-4139	119	14	relative	relative	ADJ
aiti-4139	119	15	positions	position	NOUN
aiti-4139	119	16	from	from	ADP
aiti-4139	119	17	leader	leader	NOUN
aiti-4139	119	18	to	to	ADP
aiti-4139	119	19	follower	follower	NOUN
aiti-4139	119	20	is	be	AUX
aiti-4139	119	21	expressed	express	VERB
aiti-4139	119	22	as	as	ADP
aiti-4139	119	23			NOUN
aiti-4139	119	24			PROPN
aiti-4139	119	25			NOUN
aiti-4139	119	26			PROPN
aiti-4139	119	27	(	(	PUNCT
aiti-4139	119	28	)	)	PUNCT
aiti-4139	119	29	(	(	PUNCT
aiti-4139	119	30	)	)	PUNCT
aiti-4139	119	31	(	(	PUNCT
aiti-4139	119	32	)	)	PUNCT
aiti-4139	120	1	(	(	PUNCT
aiti-4139	120	2	1,2.3)i	1,2.3)i	NUM
aiti-4139	120	3	i	i	INTJ
aiti-4139	121	1	i	i	PRON
aiti-4139	122	1	i	i	PRON
aiti-4139	122	2	i	i	VERB
aiti-4139	123	1	d	d	X
aiti-4139	123	2	x	x	X
aiti-4139	124	1	t	t	PROPN
aiti-4139	124	2	d	d	PROPN
aiti-4139	124	3	a	a	X
aiti-4139	124	4	x	x	SYM
aiti-4139	124	5	t	t	NOUN
aiti-4139	124	6	d	d	PROPN
aiti-4139	124	7	bu	bu	PROPN
aiti-4139	124	8	t	t	PROPN
aiti-4139	125	1	i	i	PRON
aiti-4139	125	2	dt	dt	PROPN
aiti-4139	125	3			PROPN
aiti-4139	125	4			PROPN
aiti-4139	125	5			PROPN
aiti-4139	125	6			VERB
aiti-4139	125	7			NUM
aiti-4139	125	8	(	(	PUNCT
aiti-4139	125	9	11	11	NUM
aiti-4139	125	10	)	)	PUNCT
aiti-4139	125	11	by	by	ADP
aiti-4139	125	12	introducing	introduce	VERB
aiti-4139	125	13	the	the	DET
aiti-4139	125	14	additional	additional	ADJ
aiti-4139	125	15	state	state	NOUN
aiti-4139	125	16	vector	vector	NOUN
aiti-4139	125	17	(	(	PUNCT
aiti-4139	125	18	)	)	PUNCT
aiti-4139	125	19	ix	ix	PROPN
aiti-4139	125	20	t	t	PROPN
aiti-4139	125	21	described	describe	VERB
aiti-4139	125	22	as	as	ADP
aiti-4139	125	23			NOUN
aiti-4139	125	24			PROPN
aiti-4139	125	25	(	(	PUNCT
aiti-4139	125	26	)	)	PUNCT
aiti-4139	125	27	(	(	PUNCT
aiti-4139	125	28	)	)	PUNCT
aiti-4139	125	29	ˆ	ˆ	NOUN
aiti-4139	125	30	(	(	PUNCT
aiti-4139	125	31	)	)	PUNCT
aiti-4139	125	32	(	(	PUNCT
aiti-4139	125	33	)	)	PUNCT
aiti-4139	125	34	(	(	PUNCT
aiti-4139	125	35	)	)	PUNCT
aiti-4139	125	36	(	(	PUNCT
aiti-4139	125	37	)	)	PUNCT
aiti-4139	125	38	ˆ	ˆ	NOUN
aiti-4139	125	39	(	(	PUNCT
aiti-4139	125	40	)	)	PUNCT
aiti-4139	125	41	(	(	PUNCT
aiti-4139	125	42	)	)	PUNCT
aiti-4139	125	43	(	(	PUNCT
aiti-4139	125	44	)	)	PUNCT
aiti-4139	125	45	(	(	PUNCT
aiti-4139	125	46	)	)	PUNCT
aiti-4139	126	1	xi	xi	PROPN
aiti-4139	126	2	xi	xi	INTJ
aiti-4139	126	3	xi	xi	INTJ
aiti-4139	126	4	xi	xi	INTJ
aiti-4139	126	5	xi	xi	INTJ
aiti-4139	126	6	xi	xi	INTJ
aiti-4139	127	1	i	i	PRON
aiti-4139	128	1	i	i	PRON
aiti-4139	129	1	yi	yi	NOUN
aiti-4139	130	1	yi	yi	PROPN
aiti-4139	131	1	yi	yi	PROPN
aiti-4139	132	1	yi	yi	PROPN
aiti-4139	133	1	yi	yi	PROPN
aiti-4139	134	1	yi	yi	INTJ
aiti-4139	135	1	i	i	NOUN
aiti-4139	135	2	x	x	PROPN
aiti-4139	136	1	t	t	NOUN
aiti-4139	136	2	d	d	X
aiti-4139	136	3	x	x	SYM
aiti-4139	136	4	t	t	NOUN
aiti-4139	136	5	v	v	NUM
aiti-4139	136	6	t	t	PROPN
aiti-4139	136	7	v	v	NOUN
aiti-4139	136	8	v	v	ADP
aiti-4139	136	9	t	t	PROPN
aiti-4139	136	10	x	x	PROPN
aiti-4139	137	1	t	t	PROPN
aiti-4139	137	2	d	d	X
aiti-4139	137	3	x	x	SYM
aiti-4139	137	4	t	t	NOUN
aiti-4139	137	5	v	v	NUM
aiti-4139	137	6	t	t	PROPN
aiti-4139	137	7	v	v	NOUN
aiti-4139	137	8	v	v	ADP
aiti-4139	137	9	t	t	PROPN
aiti-4139	137	10	x	x	SYM
aiti-4139	138	1	t	t	NOUN
aiti-4139	138	2	x	x	SYM
aiti-4139	138	3	t	t	PROPN
aiti-4139	138	4	d	d	PROPN
aiti-4139	138	5			PROPN
aiti-4139	138	6			PROPN
aiti-4139	138	7			NOUN
aiti-4139	138	8			PROPN
aiti-4139	138	9			PROPN
aiti-4139	139	1			PROPN
aiti-4139	140	1			PROPN
aiti-4139	140	2			PROPN
aiti-4139	141	1			PRON
aiti-4139	141	2			PROPN
aiti-4139	142	1			PROPN
aiti-4139	142	2			INTJ
aiti-4139	143	1			NUM
aiti-4139	144	1			PRON
aiti-4139	145	1			NOUN
aiti-4139	146	1			PROPN
aiti-4139	146	2			PROPN
aiti-4139	146	3			PROPN
aiti-4139	146	4			NOUN
aiti-4139	147	1			PROPN
aiti-4139	147	2			PROPN
aiti-4139	148	1			PROPN
aiti-4139	149	1			INTJ
aiti-4139	150	1			PROPN
aiti-4139	150	2			PROPN
aiti-4139	151	1			PROPN
aiti-4139	151	2			NOUN
aiti-4139	151	3			NOUN
aiti-4139	151	4			PROPN
aiti-4139	151	5			NOUN
aiti-4139	151	6			NOUN
aiti-4139	151	7	(	(	PUNCT
aiti-4139	151	8	12	12	NUM
aiti-4139	151	9	)	)	PUNCT
aiti-4139	151	10	then	then	ADV
aiti-4139	151	11	one	one	PRON
aiti-4139	151	12	can	can	AUX
aiti-4139	151	13	see	see	VERB
aiti-4139	151	14	from	from	ADP
aiti-4139	151	15	(	(	PUNCT
aiti-4139	151	16	11	11	NUM
aiti-4139	151	17	)	)	PUNCT
aiti-4139	151	18	and	and	CCONJ
aiti-4139	151	19	(	(	PUNCT
aiti-4139	151	20	12	12	NUM
aiti-4139	151	21	)	)	PUNCT
aiti-4139	151	22	that	that	SCONJ
aiti-4139	151	23	the	the	DET
aiti-4139	151	24	following	follow	VERB
aiti-4139	151	25	state	state	NOUN
aiti-4139	151	26	equation	equation	NOUN
aiti-4139	151	27	can	can	AUX
aiti-4139	151	28	be	be	AUX
aiti-4139	151	29	obtained	obtain	VERB
aiti-4139	151	30	:	:	PUNCT
aiti-4139	151	31	(	(	PUNCT
aiti-4139	151	32	)	)	PUNCT
aiti-4139	151	33	(	(	PUNCT
aiti-4139	151	34	)	)	PUNCT
aiti-4139	152	1	(	(	PUNCT
aiti-4139	152	2	)	)	PUNCT
aiti-4139	152	3	i	i	PRON
aiti-4139	152	4	i	i	PRON
aiti-4139	153	1	i	i	VERB
aiti-4139	154	1	d	d	NOUN
aiti-4139	154	2	dt	dt	X
aiti-4139	154	3	x	x	SYM
aiti-4139	154	4	t	t	NOUN
aiti-4139	154	5	ax	ax	NOUN
aiti-4139	154	6	t	t	PROPN
aiti-4139	154	7	bu	bu	INTJ
aiti-4139	154	8	t	t	PROPN
aiti-4139	154	9			X
aiti-4139	154	10	(	(	PUNCT
aiti-4139	154	11	13	13	X
aiti-4139	154	12	)	)	PUNCT
aiti-4139	154	13	summarizing	summarize	VERB
aiti-4139	154	14	the	the	DET
aiti-4139	154	15	state	state	NOUN
aiti-4139	154	16	equations	equation	NOUN
aiti-4139	154	17	of	of	ADP
aiti-4139	154	18	all	all	DET
aiti-4139	154	19	agents	agent	NOUN
aiti-4139	154	20	,	,	PUNCT
aiti-4139	154	21	we	we	PRON
aiti-4139	154	22	get	get	VERB
aiti-4139	154	23	the	the	DET
aiti-4139	154	24	following	follow	VERB
aiti-4139	154	25	total	total	ADJ
aiti-4139	154	26	system	system	NOUN
aiti-4139	154	27	:	:	PUNCT
aiti-4139	154	28	(	(	PUNCT
aiti-4139	154	29	)	)	PUNCT
aiti-4139	154	30	(	(	PUNCT
aiti-4139	154	31	)	)	PUNCT
aiti-4139	154	32	(	(	PUNCT
aiti-4139	154	33	)	)	PUNCT
aiti-4139	154	34	t	t	NOUN
aiti-4139	154	35	t	t	NOUN
aiti-4139	155	1	d	d	X
aiti-4139	155	2	dt	dt	X
aiti-4139	155	3	x	x	SYM
aiti-4139	155	4	t	t	PROPN
aiti-4139	155	5	a	a	X
aiti-4139	155	6	x	x	SYM
aiti-4139	155	7	t	t	PROPN
aiti-4139	155	8	b	b	PROPN
aiti-4139	155	9	u	u	X
aiti-4139	155	10	t	t	PROPN
aiti-4139	155	11			X
aiti-4139	155	12	(	(	PUNCT
aiti-4139	155	13	14	14	NUM
aiti-4139	155	14	)	)	PUNCT
aiti-4139	155	15	where	where	SCONJ
aiti-4139	155	16	,	,	PUNCT
aiti-4139	155	17	,	,	PUNCT
aiti-4139	155	18	(	(	PUNCT
aiti-4139	155	19	)	)	PUNCT
aiti-4139	155	20	t	t	NOUN
aiti-4139	155	21	ta	ta	X
aiti-4139	155	22	b	b	PROPN
aiti-4139	155	23	x	x	SYM
aiti-4139	155	24	t	t	PROPN
aiti-4139	155	25	and	and	CCONJ
aiti-4139	155	26	(	(	PUNCT
aiti-4139	155	27	)	)	PUNCT
aiti-4139	155	28	u	u	NOUN
aiti-4139	155	29	t	t	PROPN
aiti-4139	155	30	are	be	AUX
aiti-4139	155	31	matrices	matrix	NOUN
aiti-4139	155	32	and	and	CCONJ
aiti-4139	155	33	vectors	vector	NOUN
aiti-4139	155	34	given	give	VERB
aiti-4139	155	35	by	by	ADP
aiti-4139	155	36			NOUN
aiti-4139	155	37			PROPN
aiti-4139	155	38			NOUN
aiti-4139	155	39			PROPN
aiti-4139	155	40	3	3	NUM
aiti-4139	155	41	3	3	NUM
aiti-4139	155	42	2	2	NUM
aiti-4139	155	43	3	3	NUM
aiti-4139	155	44	2	2	NUM
aiti-4139	155	45	3	3	NUM
aiti-4139	155	46	0	0	NUM
aiti-4139	155	47	0	0	NUM
aiti-4139	155	48	0	0	NUM
aiti-4139	155	49	0	0	NUM
aiti-4139	155	50	0	0	NUM
aiti-4139	155	51	0	0	NUM
aiti-4139	155	52	,	,	PUNCT
aiti-4139	155	53	b	b	NOUN
aiti-4139	155	54	0	0	NUM
aiti-4139	155	55	0	0	NUM
aiti-4139	155	56	0	0	NUM
aiti-4139	155	57	0	0	NUM
aiti-4139	155	58	0	0	NUM
aiti-4139	155	59	0	0	NUM
aiti-4139	155	60	(	(	PUNCT
aiti-4139	155	61	)	)	PUNCT
aiti-4139	155	62	(	(	PUNCT
aiti-4139	155	63	)	)	PUNCT
aiti-4139	155	64	(	(	PUNCT
aiti-4139	155	65	)	)	PUNCT
aiti-4139	155	66	(	(	PUNCT
aiti-4139	155	67	)	)	PUNCT
aiti-4139	155	68	,	,	PUNCT
aiti-4139	155	69	(	(	PUNCT
aiti-4139	155	70	)	)	PUNCT
aiti-4139	155	71	(	(	PUNCT
aiti-4139	155	72	)	)	PUNCT
aiti-4139	155	73	(	(	PUNCT
aiti-4139	155	74	)	)	PUNCT
aiti-4139	155	75	(	(	PUNCT
aiti-4139	155	76	)	)	PUNCT
aiti-4139	155	77	t	t	NOUN
aiti-4139	155	78	t	t	PROPN
aiti-4139	155	79	t	t	PROPN
aiti-4139	155	80	t	t	PROPN
aiti-4139	155	81	t	t	PROPN
aiti-4139	155	82	t	t	PROPN
aiti-4139	155	83	t	t	PROPN
aiti-4139	155	84	t	t	PROPN
aiti-4139	155	85	t	t	PROPN
aiti-4139	155	86	t	t	PROPN
aiti-4139	155	87	l	l	PROPN
aiti-4139	155	88	l	l	NOUN
aiti-4139	156	1	a	a	DET
aiti-4139	156	2	b	b	X
aiti-4139	156	3	a	a	PRON
aiti-4139	156	4	i	i	PRON
aiti-4139	156	5	a	a	PRON
aiti-4139	156	6	a	a	DET
aiti-4139	156	7	i	i	NOUN
aiti-4139	156	8	b	b	PROPN
aiti-4139	156	9	b	b	PROPN
aiti-4139	156	10	a	a	DET
aiti-4139	156	11	b	b	NOUN
aiti-4139	156	12	x	x	SYM
aiti-4139	156	13	t	t	NOUN
aiti-4139	156	14	x	x	SYM
aiti-4139	156	15	t	t	NOUN
aiti-4139	156	16	x	x	SYM
aiti-4139	156	17	t	t	NOUN
aiti-4139	156	18	x	x	SYM
aiti-4139	156	19	t	t	NOUN
aiti-4139	156	20	u	u	NOUN
aiti-4139	156	21	t	t	PROPN
aiti-4139	156	22	u	u	NOUN
aiti-4139	156	23	t	t	PROPN
aiti-4139	156	24	u	u	NOUN
aiti-4139	156	25	t	t	PROPN
aiti-4139	156	26	u	u	NOUN
aiti-4139	156	27	t	t	PROPN
aiti-4139	156	28			NOUN
aiti-4139	156	29			PROPN
aiti-4139	156	30			NOUN
aiti-4139	156	31			PROPN
aiti-4139	157	1			PROPN
aiti-4139	158	1			INTJ
aiti-4139	159	1			PROPN
aiti-4139	159	2			PROPN
aiti-4139	160	1			NUM
aiti-4139	160	2			PUNCT
aiti-4139	161	1			ADJ
aiti-4139	161	2			NOUN
aiti-4139	161	3			INTJ
aiti-4139	162	1			NOUN
aiti-4139	162	2			PROPN
aiti-4139	162	3			INTJ
aiti-4139	163	1			PROPN
aiti-4139	164	1			INTJ
aiti-4139	165	1			PROPN
aiti-4139	166	1			INTJ
aiti-4139	167	1			PROPN
aiti-4139	167	2			PROPN
aiti-4139	168	1			ADJ
aiti-4139	168	2			PROPN
aiti-4139	168	3			PROPN
aiti-4139	168	4			NOUN
aiti-4139	168	5			NUM
aiti-4139	168	6			NOUN
aiti-4139	168	7	(	(	PUNCT
aiti-4139	168	8	15	15	NUM
aiti-4139	168	9	)	)	PUNCT
aiti-4139	168	10	advances	advance	NOUN
aiti-4139	168	11	technology	technology	NOUN
aiti-4139	168	12	innovation	innovation	NOUN
aiti-4139	168	13	,	,	PUNCT
aiti-4139	168	14	vol	vol	NOUN
aiti-4139	168	15	.	.	PROPN
aiti-4139	168	16	4	4	NUM
aiti-4139	168	17	,	,	PUNCT
aiti-4139	168	18	no	no	INTJ
aiti-4139	168	19	.	.	NOUN
aiti-4139	168	20	4	4	NUM
aiti-4139	168	21	,	,	PUNCT
aiti-4139	168	22	2019	2019	NUM
aiti-4139	168	23	,	,	PUNCT
aiti-4139	168	24	pp	pp	ADJ
aiti-4139	168	25	.	.	PUNCT
aiti-4139	169	1	234	234	NUM
aiti-4139	169	2	-	-	SYM
aiti-4139	169	3	246	246	NUM
aiti-4139	169	4	238	238	NUM
aiti-4139	169	5	next	next	ADV
aiti-4139	169	6	,	,	PUNCT
aiti-4139	169	7	we	we	PRON
aiti-4139	169	8	consider	consider	VERB
aiti-4139	169	9	the	the	DET
aiti-4139	169	10	control	control	NOUN
aiti-4139	169	11	input	input	NOUN
aiti-4139	169	12	(	(	PUNCT
aiti-4139	169	13	)	)	PUNCT
aiti-4139	169	14	u	u	PROPN
aiti-4139	169	15	t	t	PROPN
aiti-4139	169	16	.	.	PUNCT
aiti-4139	170	1	note	note	VERB
aiti-4139	170	2	that	that	SCONJ
aiti-4139	170	3	consensus	consensus	NOUN
aiti-4139	170	4	problem	problem	NOUN
aiti-4139	170	5	,	,	PUNCT
aiti-4139	170	6	“	"	PUNCT
aiti-4139	170	7	consensus	consensus	NOUN
aiti-4139	170	8	”	"	PUNCT
aiti-4139	170	9	for	for	ADP
aiti-4139	170	10	agents	agent	NOUN
aiti-4139	170	11	means	mean	VERB
aiti-4139	170	12	that	that	SCONJ
aiti-4139	170	13	the	the	DET
aiti-4139	170	14	following	follow	VERB
aiti-4139	170	15	relation	relation	NOUN
aiti-4139	170	16	for	for	ADP
aiti-4139	170	17	i	i	PROPN
aiti-4139	170	18			NOUN
aiti-4139	170	19	and	and	CCONJ
aiti-4139	170	20	j	j	PROPN
aiti-4139	170	21			NOUN
aiti-4139	170	22	holds	hold	VERB
aiti-4139	170	23	:	:	PUNCT
aiti-4139	170	24			PROPN
aiti-4139	170	25	lim	lim	PRON
aiti-4139	170	26	(	(	PUNCT
aiti-4139	170	27	)	)	PUNCT
aiti-4139	170	28	(	(	PUNCT
aiti-4139	170	29	)	)	PUNCT
aiti-4139	170	30	0i	0i	PROPN
aiti-4139	171	1	j	j	PROPN
aiti-4139	171	2	t	t	PROPN
aiti-4139	171	3	x	x	PROPN
aiti-4139	171	4	t	t	PROPN
aiti-4139	171	5	x	x	SYM
aiti-4139	171	6	t	t	NOUN
aiti-4139	171	7			NOUN
aiti-4139	171	8			PROPN
aiti-4139	171	9			PRON
aiti-4139	171	10	(	(	PUNCT
aiti-4139	171	11	16	16	NUM
aiti-4139	171	12	)	)	PUNCT
aiti-4139	171	13	if	if	SCONJ
aiti-4139	171	14	2	2	NUM
aiti-4139	171	15	4f	4f	NUM
aiti-4139	171	16			NOUN
aiti-4139	171	17	is	be	AUX
aiti-4139	171	18	the	the	DET
aiti-4139	171	19	consensus	consensus	NOUN
aiti-4139	171	20	gain	gain	NOUN
aiti-4139	171	21	,	,	PUNCT
aiti-4139	171	22	it	it	PRON
aiti-4139	171	23	is	be	AUX
aiti-4139	171	24	known	know	VERB
aiti-4139	171	25	that	that	SCONJ
aiti-4139	171	26	the	the	DET
aiti-4139	171	27	consensus	consensus	NOUN
aiti-4139	171	28	input	input	NOUN
aiti-4139	171	29	for	for	ADP
aiti-4139	171	30	(	(	PUNCT
aiti-4139	171	31	)	)	PUNCT
aiti-4139	171	32	ix	ix	PROPN
aiti-4139	171	33	t	t	PROPN
aiti-4139	171	34	,	,	PUNCT
aiti-4139	171	35	(	(	PUNCT
aiti-4139	171	36	)	)	PUNCT
aiti-4139	171	37	fiu	fiu	PROPN
aiti-4139	171	38	t	t	PROPN
aiti-4139	171	39	is	be	AUX
aiti-4139	171	40	given	give	VERB
aiti-4139	171	41	by	by	ADP
aiti-4139	171	42	[	[	PUNCT
aiti-4139	171	43	22	22	NUM
aiti-4139	171	44	]	]	PUNCT
aiti-4139	171	45	.	.	PUNCT
aiti-4139	172	1			PROPN
aiti-4139	172	2			PROPN
aiti-4139	172	3	(	(	PUNCT
aiti-4139	172	4	)	)	PUNCT
aiti-4139	172	5	(	(	PUNCT
aiti-4139	172	6	)	)	PUNCT
aiti-4139	172	7	(	(	PUNCT
aiti-4139	172	8	)	)	PUNCT
aiti-4139	173	1	i	i	PRON
aiti-4139	173	2	fi	fi	INTJ
aiti-4139	174	1	i	i	PRON
aiti-4139	174	2	j	j	PROPN
aiti-4139	175	1	j	j	PROPN
aiti-4139	175	2	u	u	PROPN
aiti-4139	175	3	t	t	PROPN
aiti-4139	175	4	f	f	PROPN
aiti-4139	175	5	x	x	SYM
aiti-4139	175	6	t	t	PROPN
aiti-4139	175	7	x	x	SYM
aiti-4139	175	8	t	t	PROPN
aiti-4139	175	9			NOUN
aiti-4139	175	10			NUM
aiti-4139	176	1			X
aiti-4139	176	2	(	(	PUNCT
aiti-4139	176	3	17	17	NUM
aiti-4139	176	4	)	)	PUNCT
aiti-4139	176	5	in	in	ADP
aiti-4139	176	6	the	the	DET
aiti-4139	176	7	case	case	NOUN
aiti-4139	176	8	of	of	ADP
aiti-4139	176	9	this	this	DET
aiti-4139	176	10	paper	paper	NOUN
aiti-4139	176	11	,	,	PUNCT
aiti-4139	176	12	(	(	PUNCT
aiti-4139	176	13	)	)	PUNCT
aiti-4139	176	14	fiu	fiu	PROPN
aiti-4139	176	15	t	t	PROPN
aiti-4139	176	16	is	be	AUX
aiti-4139	176	17	calculated	calculate	VERB
aiti-4139	176	18	as	as	SCONJ
aiti-4139	176	19	follows	follow	VERB
aiti-4139	176	20	:	:	PUNCT
aiti-4139	176	21	2	2	NUM
aiti-4139	176	22	2	2	NUM
aiti-4139	176	23	3	3	NUM
aiti-4139	176	24	3	3	NUM
aiti-4139	176	25	2	2	NUM
aiti-4139	176	26	3	3	NUM
aiti-4139	176	27	(	(	PUNCT
aiti-4139	176	28	)	)	PUNCT
aiti-4139	176	29	0	0	NUM
aiti-4139	177	1	(	(	PUNCT
aiti-4139	177	2	)	)	PUNCT
aiti-4139	177	3	(	(	PUNCT
aiti-4139	177	4	(	(	PUNCT
aiti-4139	177	5	)	)	PUNCT
aiti-4139	177	6	2	2	NUM
aiti-4139	177	7	(	(	PUNCT
aiti-4139	177	8	)	)	PUNCT
aiti-4139	177	9	(	(	PUNCT
aiti-4139	177	10	)	)	PUNCT
aiti-4139	177	11	)	)	PUNCT
aiti-4139	177	12	(	(	PUNCT
aiti-4139	177	13	)	)	PUNCT
aiti-4139	177	14	(	(	PUNCT
aiti-4139	177	15	(	(	PUNCT
aiti-4139	177	16	)	)	PUNCT
aiti-4139	177	17	(	(	PUNCT
aiti-4139	177	18	)	)	PUNCT
aiti-4139	177	19	2	2	NUM
aiti-4139	177	20	(	(	PUNCT
aiti-4139	177	21	)	)	PUNCT
aiti-4139	177	22	)	)	PUNCT
aiti-4139	178	1	fl	fl	PROPN
aiti-4139	179	1	f	f	X
aiti-4139	179	2	l	l	NOUN
aiti-4139	179	3	f	f	X
aiti-4139	179	4	l	l	NOUN
aiti-4139	179	5	u	u	NOUN
aiti-4139	179	6	t	t	X
aiti-4139	179	7	u	u	NOUN
aiti-4139	179	8	t	t	X
aiti-4139	179	9	f	f	X
aiti-4139	179	10	x	x	SYM
aiti-4139	179	11	t	t	X
aiti-4139	179	12	x	x	SYM
aiti-4139	179	13	t	t	NOUN
aiti-4139	179	14	x	x	SYM
aiti-4139	179	15	t	t	NOUN
aiti-4139	179	16	u	u	X
aiti-4139	179	17	t	t	X
aiti-4139	179	18	f	f	X
aiti-4139	179	19	x	x	SYM
aiti-4139	179	20	t	t	X
aiti-4139	179	21	x	x	SYM
aiti-4139	179	22	t	t	NOUN
aiti-4139	179	23	x	x	PUNCT
aiti-4139	179	24	t	t	PROPN
aiti-4139	179	25			NUM
aiti-4139	179	26			PROPN
aiti-4139	179	27			PROPN
aiti-4139	179	28			VERB
aiti-4139	179	29			PROPN
aiti-4139	179	30			PROPN
aiti-4139	179	31			PROPN
aiti-4139	179	32			PROPN
aiti-4139	179	33			X
aiti-4139	179	34	(	(	PUNCT
aiti-4139	179	35	18	18	NUM
aiti-4139	179	36	)	)	PUNCT
aiti-4139	179	37	namely	namely	ADV
aiti-4139	179	38	,	,	PUNCT
aiti-4139	179	39			NOUN
aiti-4139	179	40	2	2	NOUN
aiti-4139	179	41	3	3	NUM
aiti-4139	179	42	(	(	PUNCT
aiti-4139	179	43	)	)	PUNCT
aiti-4139	179	44	(	(	PUNCT
aiti-4139	179	45	)	)	PUNCT
aiti-4139	179	46	(	(	PUNCT
aiti-4139	179	47	)	)	PUNCT
aiti-4139	179	48	(	(	PUNCT
aiti-4139	179	49	)	)	PUNCT
aiti-4139	179	50	t	t	NOUN
aiti-4139	180	1	t	t	PROPN
aiti-4139	180	2	t	t	PROPN
aiti-4139	180	3	t	t	PROPN
aiti-4139	180	4	f	f	PROPN
aiti-4139	181	1	fl	fl	INTJ
aiti-4139	181	2	f	f	PROPN
aiti-4139	181	3	f	f	PROPN
aiti-4139	181	4	u	u	PROPN
aiti-4139	181	5	t	t	PROPN
aiti-4139	181	6	u	u	NOUN
aiti-4139	181	7	t	t	PROPN
aiti-4139	181	8	u	u	NOUN
aiti-4139	181	9	t	t	PROPN
aiti-4139	181	10	u	u	NOUN
aiti-4139	181	11	t	t	PROPN
aiti-4139	181	12	can	can	AUX
aiti-4139	181	13	be	be	AUX
aiti-4139	181	14	represented	represent	VERB
aiti-4139	181	15	by	by	ADP
aiti-4139	181	16	the	the	DET
aiti-4139	181	17	following	follow	VERB
aiti-4139	181	18	matrix	matrix	NOUN
aiti-4139	181	19	-	-	PUNCT
aiti-4139	181	20	vector	vector	NOUN
aiti-4139	181	21	form	form	NOUN
aiti-4139	181	22	:	:	PUNCT
aiti-4139	181	23	2	2	NUM
aiti-4139	181	24	3	3	NUM
aiti-4139	181	25	0	0	NUM
aiti-4139	181	26	0	0	NUM
aiti-4139	181	27	0	0	NUM
aiti-4139	181	28	(	(	PUNCT
aiti-4139	181	29	)	)	PUNCT
aiti-4139	181	30	(	(	PUNCT
aiti-4139	181	31	)	)	PUNCT
aiti-4139	181	32	2	2	NUM
aiti-4139	181	33	(	(	PUNCT
aiti-4139	181	34	)	)	PUNCT
aiti-4139	181	35	(	(	PUNCT
aiti-4139	181	36	)	)	PUNCT
aiti-4139	181	37	(	(	PUNCT
aiti-4139	181	38	)	)	PUNCT
aiti-4139	181	39	2	2	NUM
aiti-4139	181	40	(	(	PUNCT
aiti-4139	181	41	)	)	PUNCT
aiti-4139	182	1	l	l	NOUN
aiti-4139	182	2	f	f	X
aiti-4139	182	3	x	x	SYM
aiti-4139	182	4	t	t	NOUN
aiti-4139	182	5	u	u	NOUN
aiti-4139	183	1	t	t	PROPN
aiti-4139	183	2	f	f	PROPN
aiti-4139	184	1	f	f	PROPN
aiti-4139	184	2	f	f	PROPN
aiti-4139	184	3	x	x	X
aiti-4139	185	1	t	t	NOUN
aiti-4139	185	2	f	f	X
aiti-4139	186	1	x	x	X
aiti-4139	186	2	t	t	NOUN
aiti-4139	187	1	f	f	X
aiti-4139	187	2	f	f	PROPN
aiti-4139	188	1	f	f	PROPN
aiti-4139	188	2	x	x	SYM
aiti-4139	188	3	t	t	PROPN
aiti-4139	188	4			NOUN
aiti-4139	188	5			PROPN
aiti-4139	188	6			PROPN
aiti-4139	188	7			PROPN
aiti-4139	188	8			NOUN
aiti-4139	189	1			PROPN
aiti-4139	190	1			PROPN
aiti-4139	190	2			PROPN
aiti-4139	190	3			NOUN
aiti-4139	190	4			PRON
aiti-4139	191	1			PROPN
aiti-4139	191	2			NOUN
aiti-4139	191	3			PROPN
aiti-4139	191	4			PROPN
aiti-4139	191	5			NOUN
aiti-4139	191	6			NOUN
aiti-4139	191	7			NOUN
aiti-4139	191	8			NOUN
aiti-4139	191	9			NOUN
aiti-4139	191	10	(	(	PUNCT
aiti-4139	191	11	19	19	NUM
aiti-4139	191	12	)	)	PUNCT
aiti-4139	191	13	additionally	additionally	ADV
aiti-4139	191	14	,	,	PUNCT
aiti-4139	191	15	let	let	VERB
aiti-4139	191	16	(	(	PUNCT
aiti-4139	191	17	)	)	PUNCT
aiti-4139	191	18	ku	ku	PROPN
aiti-4139	191	19	t	t	PROPN
aiti-4139	191	20	be	be	AUX
aiti-4139	191	21	the	the	DET
aiti-4139	191	22	state	state	NOUN
aiti-4139	191	23	feedback	feedback	NOUN
aiti-4139	191	24	input	input	NOUN
aiti-4139	191	25	for	for	ADP
aiti-4139	191	26	stabilization	stabilization	NOUN
aiti-4139	191	27	of	of	ADP
aiti-4139	191	28	the	the	DET
aiti-4139	191	29	system	system	NOUN
aiti-4139	191	30	.	.	PUNCT
aiti-4139	192	1	by	by	ADP
aiti-4139	192	2	using	use	VERB
aiti-4139	192	3	the	the	DET
aiti-4139	192	4	feedback	feedback	NOUN
aiti-4139	192	5	gain	gain	NOUN
aiti-4139	192	6	matrix	matrix	NOUN
aiti-4139	192	7	2	2	NUM
aiti-4139	192	8	4	4	NUM
aiti-4139	192	9	(	(	PUNCT
aiti-4139	192	10	)	)	PUNCT
aiti-4139	192	11	ku	ku	PROPN
aiti-4139	192	12	t	t	PROPN
aiti-4139	192	13			NOUN
aiti-4139	192	14	,	,	PUNCT
aiti-4139	192	15	the	the	DET
aiti-4139	192	16	state	state	NOUN
aiti-4139	192	17	feedback	feedback	NOUN
aiti-4139	192	18	input	input	NOUN
aiti-4139	192	19	(	(	PUNCT
aiti-4139	192	20	)	)	PUNCT
aiti-4139	192	21	ku	ku	PROPN
aiti-4139	192	22	t	t	PROPN
aiti-4139	192	23	can	can	AUX
aiti-4139	192	24	be	be	AUX
aiti-4139	192	25	written	write	VERB
aiti-4139	192	26	as	as	ADP
aiti-4139	192	27	(	(	PUNCT
aiti-4139	192	28	)	)	PUNCT
aiti-4139	192	29	(	(	PUNCT
aiti-4139	192	30	)	)	PUNCT
aiti-4139	192	31	(	(	PUNCT
aiti-4139	192	32	)	)	PUNCT
aiti-4139	192	33	ku	ku	PROPN
aiti-4139	192	34	t	t	PROPN
aiti-4139	193	1	i	i	PRON
aiti-4139	193	2	k	k	PROPN
aiti-4139	193	3	x	x	PROPN
aiti-4139	193	4	t	t	PROPN
aiti-4139	193	5	(	(	PUNCT
aiti-4139	193	6	20	20	NUM
aiti-4139	193	7	)	)	PUNCT
aiti-4139	193	8	finally	finally	ADV
aiti-4139	193	9	,	,	PUNCT
aiti-4139	193	10	we	we	PRON
aiti-4139	193	11	introduce	introduce	VERB
aiti-4139	193	12	a	a	DET
aiti-4139	193	13	compensation	compensation	NOUN
aiti-4139	193	14	input	input	NOUN
aiti-4139	193	15	v(t	v(t	NOUN
aiti-4139	193	16	)	)	PUNCT
aiti-4139	193	17	and	and	CCONJ
aiti-4139	193	18	consider	consider	VERB
aiti-4139	193	19	the	the	DET
aiti-4139	193	20	following	follow	VERB
aiti-4139	193	21	control	control	NOUN
aiti-4139	193	22	input	input	NOUN
aiti-4139	193	23	:	:	PUNCT
aiti-4139	193	24	(	(	PUNCT
aiti-4139	193	25	)	)	PUNCT
aiti-4139	193	26	(	(	PUNCT
aiti-4139	193	27	)	)	PUNCT
aiti-4139	193	28	(	(	PUNCT
aiti-4139	193	29	)	)	PUNCT
aiti-4139	193	30	(	(	PUNCT
aiti-4139	193	31	)	)	PUNCT
aiti-4139	193	32	(	(	PUNCT
aiti-4139	193	33	)	)	PUNCT
aiti-4139	193	34	(	(	PUNCT
aiti-4139	193	35	)	)	PUNCT
aiti-4139	193	36	(	(	PUNCT
aiti-4139	193	37	)	)	PUNCT
aiti-4139	193	38	(	(	PUNCT
aiti-4139	193	39	)	)	PUNCT
aiti-4139	193	40	(	(	PUNCT
aiti-4139	193	41	)	)	PUNCT
aiti-4139	193	42	0	0	NUM
aiti-4139	193	43	0	0	NUM
aiti-4139	193	44	0	0	NUM
aiti-4139	193	45	0	0	NUM
aiti-4139	193	46	0	0	NUM
aiti-4139	193	47	2	2	NUM
aiti-4139	193	48	(	(	PUNCT
aiti-4139	193	49	)	)	PUNCT
aiti-4139	193	50	2	2	NUM
aiti-4139	193	51	(	(	PUNCT
aiti-4139	193	52	)	)	PUNCT
aiti-4139	193	53	2	2	NUM
aiti-4139	193	54	2	2	NUM
aiti-4139	194	1	k	k	NOUN
aiti-4139	194	2	f	f	PROPN
aiti-4139	194	3	t	t	PROPN
aiti-4139	194	4	u	u	NOUN
aiti-4139	194	5	t	t	PROPN
aiti-4139	194	6	u	u	NOUN
aiti-4139	194	7	t	t	PROPN
aiti-4139	194	8	u	u	NOUN
aiti-4139	194	9	t	t	PROPN
aiti-4139	194	10	v	v	NOUN
aiti-4139	194	11	t	t	NOUN
aiti-4139	195	1	i	i	PRON
aiti-4139	195	2	k	k	PROPN
aiti-4139	196	1	x	x	PUNCT
aiti-4139	196	2	t	t	NOUN
aiti-4139	196	3	f	f	X
aiti-4139	196	4	x	x	SYM
aiti-4139	196	5	t	t	PROPN
aiti-4139	196	6	v	v	X
aiti-4139	197	1	t	t	PROPN
aiti-4139	198	1	k	k	PROPN
aiti-4139	198	2	f	f	PROPN
aiti-4139	199	1	k	k	PROPN
aiti-4139	199	2	f	f	X
aiti-4139	200	1	f	f	PROPN
aiti-4139	200	2	x	x	SYM
aiti-4139	201	1	t	t	NOUN
aiti-4139	201	2	f	f	X
aiti-4139	202	1	f	f	PROPN
aiti-4139	202	2	f	f	PROPN
aiti-4139	203	1	d	d	PROPN
aiti-4139	203	2	v	v	X
aiti-4139	203	3	t	t	X
aiti-4139	204	1	f	f	X
aiti-4139	204	2	f	f	PROPN
aiti-4139	205	1	k	k	PROPN
aiti-4139	205	2	f	f	X
aiti-4139	205	3	f	f	PROPN
aiti-4139	205	4	f	f	PROPN
aiti-4139	205	5	f	f	PROPN
aiti-4139	205	6			PROPN
aiti-4139	205	7			PROPN
aiti-4139	206	1			PROPN
aiti-4139	206	2			PROPN
aiti-4139	206	3			PROPN
aiti-4139	206	4			PROPN
aiti-4139	206	5			ADJ
aiti-4139	206	6			NOUN
aiti-4139	206	7			PROPN
aiti-4139	206	8			NOUN
aiti-4139	206	9			PROPN
aiti-4139	207	1			PROPN
aiti-4139	207	2			INTJ
aiti-4139	208	1			PROPN
aiti-4139	208	2			PROPN
aiti-4139	209	1			PROPN
aiti-4139	209	2			PROPN
aiti-4139	209	3			VERB
aiti-4139	209	4			PROPN
aiti-4139	209	5			VERB
aiti-4139	209	6			PROPN
aiti-4139	209	7			PROPN
aiti-4139	209	8			PROPN
aiti-4139	209	9			PROPN
aiti-4139	209	10			PROPN
aiti-4139	210	1			PROPN
aiti-4139	211	1			PROPN
aiti-4139	211	2			PROPN
aiti-4139	212	1			PROPN
aiti-4139	212	2			ADJ
aiti-4139	212	3			PROPN
aiti-4139	212	4			VERB
aiti-4139	212	5			NOUN
aiti-4139	212	6			NOUN
aiti-4139	212	7			NOUN
aiti-4139	212	8			PROPN
aiti-4139	212	9			NOUN
aiti-4139	212	10	(	(	PUNCT
aiti-4139	212	11	21	21	NUM
aiti-4139	212	12	)	)	PUNCT
aiti-4139	212	13	where	where	SCONJ
aiti-4139	212	14			NOUN
aiti-4139	212	15	2	2	X
aiti-4139	212	16	3	3	NUM
aiti-4139	212	17	(	(	PUNCT
aiti-4139	212	18	)	)	PUNCT
aiti-4139	212	19	(	(	PUNCT
aiti-4139	212	20	)	)	PUNCT
aiti-4139	212	21	(	(	PUNCT
aiti-4139	212	22	)	)	PUNCT
aiti-4139	212	23	(	(	PUNCT
aiti-4139	212	24	)	)	PUNCT
aiti-4139	212	25	t	t	NOUN
aiti-4139	212	26	t	t	PROPN
aiti-4139	212	27	t	t	PROPN
aiti-4139	212	28	t	t	PROPN
aiti-4139	212	29	l	l	NOUN
aiti-4139	212	30	v	v	ADP
aiti-4139	212	31	t	t	PROPN
aiti-4139	212	32	v	v	ADP
aiti-4139	212	33	t	t	PROPN
aiti-4139	212	34	v	v	ADP
aiti-4139	212	35	t	t	NOUN
aiti-4139	212	36	v	v	ADP
aiti-4139	212	37	t	t	PROPN
aiti-4139	212	38	.	.	PUNCT
aiti-4139	213	1	note	note	VERB
aiti-4139	213	2	that	that	SCONJ
aiti-4139	213	3	the	the	DET
aiti-4139	213	4	design	design	NOUN
aiti-4139	213	5	method	method	NOUN
aiti-4139	213	6	for	for	ADP
aiti-4139	213	7	the	the	DET
aiti-4139	213	8	compensation	compensation	NOUN
aiti-4139	213	9	input	input	NOUN
aiti-4139	213	10	v(t	v(t	NOUN
aiti-4139	213	11	)	)	PUNCT
aiti-4139	213	12	and	and	CCONJ
aiti-4139	213	13	the	the	DET
aiti-4139	213	14	gain	gain	NOUN
aiti-4139	213	15	matrices	matrice	VERB
aiti-4139	213	16	2	2	NUM
aiti-4139	213	17	4k	4k	NUM
aiti-4139	213	18			NOUN
aiti-4139	213	19	and	and	CCONJ
aiti-4139	213	20	2	2	NUM
aiti-4139	213	21	4f	4f	NUM
aiti-4139	213	22			NOUN
aiti-4139	213	23	is	be	AUX
aiti-4139	213	24	discussed	discuss	VERB
aiti-4139	213	25	in	in	ADP
aiti-4139	213	26	the	the	DET
aiti-4139	213	27	next	next	ADJ
aiti-4139	213	28	section	section	NOUN
aiti-4139	213	29	.	.	PUNCT
aiti-4139	214	1	from	from	ADP
aiti-4139	214	2	(	(	PUNCT
aiti-4139	214	3	14	14	NUM
aiti-4139	214	4	)	)	PUNCT
aiti-4139	214	5	and	and	CCONJ
aiti-4139	214	6	(	(	PUNCT
aiti-4139	214	7	21	21	NUM
aiti-4139	214	8	)	)	PUNCT
aiti-4139	214	9	,	,	PUNCT
aiti-4139	214	10	we	we	PRON
aiti-4139	214	11	have	have	VERB
aiti-4139	214	12	2	2	NUM
aiti-4139	214	13	3	3	NUM
aiti-4139	214	14	0	0	NUM
aiti-4139	214	15	0	0	NUM
aiti-4139	214	16	0	0	NUM
aiti-4139	214	17	0	0	NUM
aiti-4139	214	18	0	0	NUM
aiti-4139	214	19	2	2	NUM
aiti-4139	214	20	2	2	NUM
aiti-4139	214	21	2	2	NUM
aiti-4139	214	22	2	2	NUM
aiti-4139	214	23	0	0	NUM
aiti-4139	214	24	0	0	NUM
aiti-4139	214	25	0	0	NUM
aiti-4139	214	26	0	0	NUM
aiti-4139	214	27	(	(	PUNCT
aiti-4139	214	28	)	)	PUNCT
aiti-4139	214	29	0	0	NUM
aiti-4139	214	30	0	0	NUM
aiti-4139	214	31	0	0	NUM
aiti-4139	215	1	*	*	SYM
aiti-4139	215	2	0	0	PUNCT
aiti-4139	216	1	(	(	PUNCT
aiti-4139	216	2	2	2	NUM
aiti-4139	216	3	)	)	PUNCT
aiti-4139	216	4	(	(	PUNCT
aiti-4139	216	5	)	)	PUNCT
aiti-4139	216	6	2	2	X
aiti-4139	217	1	*	*	PUNCT
aiti-4139	217	2	*	*	PUNCT
aiti-4139	217	3	(	(	PUNCT
aiti-4139	217	4	2	2	NUM
aiti-4139	217	5	)	)	PUNCT
aiti-4139	217	6	(	(	PUNCT
aiti-4139	217	7	)	)	PUNCT
aiti-4139	217	8	(	(	PUNCT
aiti-4139	217	9	)	)	PUNCT
aiti-4139	217	10	(	(	PUNCT
aiti-4139	217	11	)	)	PUNCT
aiti-4139	217	12	(	(	PUNCT
aiti-4139	217	13	)	)	PUNCT
aiti-4139	217	14	(	(	PUNCT
aiti-4139	217	15	)	)	PUNCT
aiti-4139	217	16	l	l	NOUN
aiti-4139	217	17	t	t	NOUN
aiti-4139	217	18	tt	tt	X
aiti-4139	218	1	k	k	PROPN
aiti-4139	218	2	d	d	PROPN
aiti-4139	218	3	f	f	X
aiti-4139	219	1	k	k	NOUN
aiti-4139	219	2	f	f	X
aiti-4139	220	1	f	f	X
aiti-4139	221	1	f	f	X
aiti-4139	221	2	f	f	X
aiti-4139	222	1	f	f	X
aiti-4139	222	2	dt	dt	X
aiti-4139	223	1	f	f	PROPN
aiti-4139	223	2	f	f	PROPN
aiti-4139	224	1	k	k	PROPN
aiti-4139	224	2	f	f	X
aiti-4139	225	1	f	f	X
aiti-4139	225	2	f	f	PROPN
aiti-4139	225	3	f	f	PROPN
aiti-4139	225	4	a	a	X
aiti-4139	225	5	bk	bk	INTJ
aiti-4139	225	6	x	x	PROPN
aiti-4139	225	7	t	t	PROPN
aiti-4139	225	8	a	a	DET
aiti-4139	225	9	bf	bf	NOUN
aiti-4139	225	10	b	b	PROPN
aiti-4139	225	11	k	k	PROPN
aiti-4139	225	12	f	f	NOUN
aiti-4139	225	13	bf	bf	NOUN
aiti-4139	225	14	x	x	SYM
aiti-4139	225	15	t	t	NOUN
aiti-4139	225	16	bf	bf	NOUN
aiti-4139	225	17	bf	bf	NOUN
aiti-4139	225	18	a	a	DET
aiti-4139	225	19	bf	bf	NOUN
aiti-4139	225	20	bf	bf	NOUN
aiti-4139	225	21	b	b	PROPN
aiti-4139	226	1	k	k	PROPN
aiti-4139	226	2	f	f	PROPN
aiti-4139	226	3	x	x	X
aiti-4139	226	4	t	t	PROPN
aiti-4139	226	5	b	b	PROPN
aiti-4139	226	6	x	x	SYM
aiti-4139	226	7	t	t	PROPN
aiti-4139	226	8	d	d	PROPN
aiti-4139	226	9	v	v	ADP
aiti-4139	226	10	tx	tx	PROPN
aiti-4139	226	11	t	t	PROPN
aiti-4139	226	12	a	a	DET
aiti-4139	226	13	x	x	SYM
aiti-4139	226	14	t	t	NOUN
aiti-4139	226	15			NOUN
aiti-4139	226	16			NOUN
aiti-4139	226	17			PROPN
aiti-4139	226	18			NOUN
aiti-4139	226	19			PROPN
aiti-4139	226	20			NUM
aiti-4139	226	21			NUM
aiti-4139	226	22			PROPN
aiti-4139	226	23			PROPN
aiti-4139	226	24			PROPN
aiti-4139	227	1			PROPN
aiti-4139	227	2			PROPN
aiti-4139	227	3			VERB
aiti-4139	227	4			PROPN
aiti-4139	227	5			VERB
aiti-4139	227	6			PROPN
aiti-4139	227	7			PROPN
aiti-4139	227	8			VERB
aiti-4139	227	9			NOUN
aiti-4139	227	10			PROPN
aiti-4139	228	1			PROPN
aiti-4139	228	2			PROPN
aiti-4139	228	3			NUM
aiti-4139	228	4			NUM
aiti-4139	228	5			PROPN
aiti-4139	228	6			PROPN
aiti-4139	228	7			ADJ
aiti-4139	228	8			PROPN
aiti-4139	228	9			VERB
aiti-4139	228	10			NOUN
aiti-4139	228	11			NOUN
aiti-4139	228	12			NOUN
aiti-4139	228	13			PROPN
aiti-4139	228	14			PROPN
aiti-4139	228	15			X
aiti-4139	228	16			ADP
aiti-4139	228	17			VERB
aiti-4139	228	18			PROPN
aiti-4139	228	19			PROPN
aiti-4139	228	20			NOUN
aiti-4139	228	21			PROPN
aiti-4139	228	22			NUM
aiti-4139	228	23			ADJ
aiti-4139	228	24			X
aiti-4139	228	25			INTJ
aiti-4139	229	1			PROPN
aiti-4139	229	2			PROPN
aiti-4139	230	1			PROPN
aiti-4139	230	2			ADV
aiti-4139	230	3			PROPN
aiti-4139	230	4			VERB
aiti-4139	230	5			PROPN
aiti-4139	230	6			CCONJ
aiti-4139	230	7			PROPN
aiti-4139	230	8			NOUN
aiti-4139	230	9			NOUN
aiti-4139	230	10			NOUN
aiti-4139	231	1			PROPN
aiti-4139	231	2			PROPN
aiti-4139	232	1			PROPN
aiti-4139	232	2			NUM
aiti-4139	232	3			NUM
aiti-4139	232	4			PROPN
aiti-4139	232	5			PROPN
aiti-4139	232	6			PROPN
aiti-4139	232	7			PROPN
aiti-4139	232	8			NOUN
aiti-4139	232	9			PROPN
aiti-4139	232	10			NUM
aiti-4139	232	11			NOUN
aiti-4139	232	12			PROPN
aiti-4139	232	13			NOUN
aiti-4139	232	14			PROPN
aiti-4139	232	15			PROPN
aiti-4139	232	16			PROPN
aiti-4139	232	17			VERB
aiti-4139	232	18	2	2	NUM
aiti-4139	232	19	3	3	NUM
aiti-4139	232	20	2	2	NUM
aiti-4139	232	21	2	2	NUM
aiti-4139	232	22	2	2	NUM
aiti-4139	232	23	3	3	NUM
aiti-4139	232	24	3	3	NUM
aiti-4139	232	25	3	3	NUM
aiti-4139	232	26	2	2	NUM
aiti-4139	232	27	3	3	NUM
aiti-4139	232	28	0	0	NUM
aiti-4139	232	29	0	0	NUM
aiti-4139	233	1	*	*	NOUN
aiti-4139	233	2	0	0	PUNCT
aiti-4139	234	1	(	(	PUNCT
aiti-4139	234	2	)	)	PUNCT
aiti-4139	234	3	2	2	NUM
aiti-4139	234	4	*	*	PUNCT
aiti-4139	234	5	*	*	PUNCT
aiti-4139	234	6	0	0	NUM
aiti-4139	234	7	0	0	NUM
aiti-4139	234	8	(	(	PUNCT
aiti-4139	234	9	)	)	PUNCT
aiti-4139	234	10	(	(	PUNCT
aiti-4139	234	11	)	)	PUNCT
aiti-4139	234	12	(	(	PUNCT
aiti-4139	234	13	)	)	PUNCT
aiti-4139	234	14	(	(	PUNCT
aiti-4139	234	15	)	)	PUNCT
aiti-4139	234	16	(	(	PUNCT
aiti-4139	234	17	2	2	X
aiti-4139	234	18	)	)	PUNCT
aiti-4139	234	19	(	(	PUNCT
aiti-4139	234	20	)	)	PUNCT
aiti-4139	234	21	(	(	PUNCT
aiti-4139	234	22	)	)	PUNCT
aiti-4139	234	23	(	(	PUNCT
aiti-4139	234	24	2	2	X
aiti-4139	234	25	)	)	PUNCT
aiti-4139	234	26	l	l	NOUN
aiti-4139	235	1	k	k	X
aiti-4139	235	2	l	l	PUNCT
aiti-4139	235	3	l	l	NOUN
aiti-4139	236	1	f	f	X
aiti-4139	236	2	f	f	PROPN
aiti-4139	237	1	d	d	PROPN
aiti-4139	237	2	b	b	PROPN
aiti-4139	237	3	bf	bf	NOUN
aiti-4139	237	4	d	d	PROPN
aiti-4139	237	5	b	b	PROPN
aiti-4139	237	6	v	v	ADP
aiti-4139	237	7	t	t	NOUN
aiti-4139	237	8	bf	bf	NOUN
aiti-4139	237	9	bf	bf	NOUN
aiti-4139	237	10	bf	bf	NOUN
aiti-4139	238	1	d	d	PROPN
aiti-4139	238	2	b	b	PROPN
aiti-4139	238	3	a	a	PRON
aiti-4139	238	4	x	x	SYM
aiti-4139	238	5	t	t	PROPN
aiti-4139	238	6	bv	bv	PROPN
aiti-4139	238	7	t	t	PROPN
aiti-4139	238	8	bf	bf	NOUN
aiti-4139	238	9	a	a	DET
aiti-4139	238	10	bf	bf	NOUN
aiti-4139	238	11	x	x	SYM
aiti-4139	238	12	t	t	PROPN
aiti-4139	238	13	bv	bv	PROPN
aiti-4139	239	1	t	t	PROPN
aiti-4139	239	2	bf	bf	NOUN
aiti-4139	239	3	d	d	PROPN
aiti-4139	239	4	d	d	PROPN
aiti-4139	239	5	bf	bf	NOUN
aiti-4139	239	6	bf	bf	NOUN
aiti-4139	239	7	a	a	DET
aiti-4139	239	8	x	x	SYM
aiti-4139	239	9	t	t	PROPN
aiti-4139	239	10	bv	bv	PROPN
aiti-4139	239	11	t	t	PROPN
aiti-4139	239	12	bf	bf	NOUN
aiti-4139	240	1	d	d	PROPN
aiti-4139	240	2	d	d	PROPN
aiti-4139	240	3			NOUN
aiti-4139	240	4			PROPN
aiti-4139	240	5			PROPN
aiti-4139	240	6			NOUN
aiti-4139	240	7			PROPN
aiti-4139	241	1			PROPN
aiti-4139	241	2			NOUN
aiti-4139	242	1			PROPN
aiti-4139	243	1			PROPN
aiti-4139	243	2			PROPN
aiti-4139	244	1			PROPN
aiti-4139	244	2			PROPN
aiti-4139	245	1			PROPN
aiti-4139	245	2			PROPN
aiti-4139	246	1			INTJ
aiti-4139	247	1			PROPN
aiti-4139	247	2			INTJ
aiti-4139	248	1			PROPN
aiti-4139	248	2			NOUN
aiti-4139	248	3			NOUN
aiti-4139	248	4			NOUN
aiti-4139	248	5			NOUN
aiti-4139	248	6			PROPN
aiti-4139	248	7			NOUN
aiti-4139	248	8			NOUN
aiti-4139	248	9			NOUN
aiti-4139	248	10			NOUN
aiti-4139	248	11			NOUN
aiti-4139	248	12			PROPN
aiti-4139	249	1			PROPN
aiti-4139	249	2			PROPN
aiti-4139	249	3			PROPN
aiti-4139	250	1			PROPN
aiti-4139	250	2			NOUN
aiti-4139	251	1			PROPN
aiti-4139	252	1			PROPN
aiti-4139	252	2			PROPN
aiti-4139	252	3			PROPN
aiti-4139	252	4			PUNCT
aiti-4139	252	5			PRON
aiti-4139	252	6			PROPN
aiti-4139	252	7			PROPN
aiti-4139	253	1			PROPN
aiti-4139	253	2			NOUN
aiti-4139	254	1			PROPN
aiti-4139	254	2			PROPN
aiti-4139	254	3			NOUN
aiti-4139	255	1			PROPN
aiti-4139	255	2			PROPN
aiti-4139	255	3			ADJ
aiti-4139	255	4			PROPN
aiti-4139	255	5			CCONJ
aiti-4139	255	6			PROPN
aiti-4139	255	7			NUM
aiti-4139	255	8			NOUN
aiti-4139	255	9			NOUN
aiti-4139	255	10			PROPN
aiti-4139	255	11			NOUN
aiti-4139	255	12	(	(	PUNCT
aiti-4139	255	13	22	22	NUM
aiti-4139	255	14	)	)	PUNCT
aiti-4139	255	15	in	in	ADP
aiti-4139	255	16	(	(	PUNCT
aiti-4139	255	17	21	21	NUM
aiti-4139	255	18	)	)	PUNCT
aiti-4139	255	19	,	,	PUNCT
aiti-4139	255	20	ka	ka	PROPN
aiti-4139	255	21	and	and	CCONJ
aiti-4139	255	22	fa	fa	PROPN
aiti-4139	255	23	are	be	AUX
aiti-4139	255	24	the	the	DET
aiti-4139	255	25	matrices	matrix	NOUN
aiti-4139	255	26	described	describe	VERB
aiti-4139	255	27	as	as	ADP
aiti-4139	255	28	ka	ka	PROPN
aiti-4139	255	29	a	a	DET
aiti-4139	255	30	bk	bk	NOUN
aiti-4139	255	31			PUNCT
aiti-4139	255	32	,	,	PUNCT
aiti-4139	255	33	2ka	2ka	ADJ
aiti-4139	255	34	a	a	DET
aiti-4139	255	35	bk	bk	PROPN
aiti-4139	255	36	bf	bf	PROPN
aiti-4139	255	37			ADV
aiti-4139	255	38			X
aiti-4139	255	39	.	.	PUNCT
aiti-4139	256	1	advances	advance	NOUN
aiti-4139	256	2	technology	technology	NOUN
aiti-4139	256	3	innovation	innovation	NOUN
aiti-4139	256	4	,	,	PUNCT
aiti-4139	256	5	vol	vol	NOUN
aiti-4139	256	6	.	.	PROPN
aiti-4139	256	7	4	4	NUM
aiti-4139	256	8	,	,	PUNCT
aiti-4139	256	9	no	no	INTJ
aiti-4139	256	10	.	.	NOUN
aiti-4139	256	11	4	4	NUM
aiti-4139	256	12	,	,	PUNCT
aiti-4139	256	13	2019	2019	NUM
aiti-4139	256	14	,	,	PUNCT
aiti-4139	256	15	pp	pp	ADJ
aiti-4139	256	16	.	.	PUNCT
aiti-4139	257	1	234	234	NUM
aiti-4139	257	2	-	-	SYM
aiti-4139	257	3	246	246	NUM
aiti-4139	257	4	239	239	NUM
aiti-4139	257	5	from	from	ADP
aiti-4139	257	6	the	the	DET
aiti-4139	257	7	above	above	NOUN
aiti-4139	257	8	,	,	PUNCT
aiti-4139	257	9	the	the	DET
aiti-4139	257	10	controller	controller	NOUN
aiti-4139	257	11	design	design	NOUN
aiti-4139	257	12	objective	objective	NOUN
aiti-4139	257	13	in	in	ADP
aiti-4139	257	14	this	this	DET
aiti-4139	257	15	study	study	NOUN
aiti-4139	257	16	is	be	AUX
aiti-4139	257	17	to	to	PART
aiti-4139	257	18	derive	derive	VERB
aiti-4139	257	19	the	the	DET
aiti-4139	257	20	consensus	consensus	NOUN
aiti-4139	257	21	gain	gain	NOUN
aiti-4139	257	22	2	2	NUM
aiti-4139	257	23	4f	4f	NUM
aiti-4139	257	24			NOUN
aiti-4139	257	25	,	,	PUNCT
aiti-4139	257	26	the	the	DET
aiti-4139	257	27	feedback	feedback	NOUN
aiti-4139	257	28	gain	gain	VERB
aiti-4139	257	29	2	2	NUM
aiti-4139	257	30	4k	4k	NUM
aiti-4139	257	31			NOUN
aiti-4139	257	32	and	and	CCONJ
aiti-4139	257	33	compensation	compensation	NOUN
aiti-4139	257	34	input	input	NOUN
aiti-4139	257	35	6	6	NUM
aiti-4139	257	36	(	(	PUNCT
aiti-4139	257	37	)	)	PUNCT
aiti-4139	257	38	v	v	NOUN
aiti-4139	257	39	t	t	PROPN
aiti-4139	257	40			NOUN
aiti-4139	257	41	so	so	SCONJ
aiti-4139	257	42	that	that	SCONJ
aiti-4139	257	43	the	the	DET
aiti-4139	257	44	asymptotic	asymptotic	ADJ
aiti-4139	257	45	stability	stability	NOUN
aiti-4139	257	46	of	of	ADP
aiti-4139	257	47	the	the	DET
aiti-4139	257	48	closed	closed	ADJ
aiti-4139	257	49	-	-	PUNCT
aiti-4139	257	50	loop	loop	NOUN
aiti-4139	257	51	system	system	NOUN
aiti-4139	257	52	of	of	ADP
aiti-4139	257	53	(	(	PUNCT
aiti-4139	257	54	22	22	NUM
aiti-4139	257	55	)	)	PUNCT
aiti-4139	257	56	is	be	AUX
aiti-4139	257	57	guaranteed	guarantee	VERB
aiti-4139	257	58	.	.	PUNCT
aiti-4139	258	1	4	4	X
aiti-4139	258	2	.	.	X
aiti-4139	258	3	main	main	ADJ
aiti-4139	258	4	results	result	NOUN
aiti-4139	258	5	in	in	ADP
aiti-4139	258	6	this	this	DET
aiti-4139	258	7	section	section	NOUN
aiti-4139	258	8	,	,	PUNCT
aiti-4139	258	9	the	the	DET
aiti-4139	258	10	design	design	NOUN
aiti-4139	258	11	method	method	NOUN
aiti-4139	258	12	of	of	ADP
aiti-4139	258	13	the	the	DET
aiti-4139	258	14	feedback	feedback	NOUN
aiti-4139	258	15	gain	gain	VERB
aiti-4139	258	16	2	2	NUM
aiti-4139	258	17	4k	4k	NUM
aiti-4139	258	18			NOUN
aiti-4139	258	19	,	,	PUNCT
aiti-4139	258	20	the	the	DET
aiti-4139	258	21	consensus	consensus	NOUN
aiti-4139	258	22	gains	gain	VERB
aiti-4139	258	23	2	2	NUM
aiti-4139	258	24	4f	4f	NUM
aiti-4139	258	25			NOUN
aiti-4139	258	26	and	and	CCONJ
aiti-4139	258	27	the	the	DET
aiti-4139	258	28	compensation	compensation	NOUN
aiti-4139	258	29	input	input	NOUN
aiti-4139	258	30	2	2	NUM
aiti-4139	258	31	(	(	PUNCT
aiti-4139	258	32	)	)	PUNCT
aiti-4139	258	33	(	(	PUNCT
aiti-4139	258	34	,	,	PUNCT
aiti-4139	258	35	2,3)iv	2,3)iv	NUM
aiti-4139	258	36	t	t	NOUN
aiti-4139	258	37	i	i	PRON
aiti-4139	258	38	l	l	VERB
aiti-4139	258	39			NOUN
aiti-4139	258	40	is	be	AUX
aiti-4139	258	41	shown	show	VERB
aiti-4139	258	42	.	.	PUNCT
aiti-4139	259	1	we	we	PRON
aiti-4139	259	2	give	give	VERB
aiti-4139	259	3	the	the	DET
aiti-4139	259	4	following	following	NOUN
aiti-4139	259	5	theorem	theorem	NOUN
aiti-4139	259	6	for	for	ADP
aiti-4139	259	7	determining	determine	VERB
aiti-4139	259	8	these	these	DET
aiti-4139	259	9	parameters	parameter	NOUN
aiti-4139	259	10	of	of	ADP
aiti-4139	259	11	the	the	DET
aiti-4139	259	12	overall	overall	ADJ
aiti-4139	259	13	system	system	NOUN
aiti-4139	259	14	(	(	PUNCT
aiti-4139	259	15	22	22	NUM
aiti-4139	259	16	)	)	PUNCT
aiti-4139	259	17	.	.	PUNCT
aiti-4139	260	1	theorem	theorem	NOUN
aiti-4139	260	2	1	1	X
aiti-4139	260	3	.	.	PUNCT
aiti-4139	261	1	consider	consider	VERB
aiti-4139	261	2	the	the	DET
aiti-4139	261	3	overall	overall	ADJ
aiti-4139	261	4	system	system	NOUN
aiti-4139	261	5	of	of	ADP
aiti-4139	261	6	(	(	PUNCT
aiti-4139	261	7	14	14	NUM
aiti-4139	261	8	)	)	PUNCT
aiti-4139	261	9	and	and	CCONJ
aiti-4139	261	10	the	the	DET
aiti-4139	261	11	control	control	NOUN
aiti-4139	261	12	input	input	NOUN
aiti-4139	261	13	of	of	ADP
aiti-4139	261	14	(	(	PUNCT
aiti-4139	261	15	21	21	NUM
aiti-4139	261	16	)	)	PUNCT
aiti-4139	261	17	.	.	PUNCT
aiti-4139	262	1	if	if	SCONJ
aiti-4139	262	2	there	there	PRON
aiti-4139	262	3	exist	exist	VERB
aiti-4139	262	4	solutions	solution	NOUN
aiti-4139	262	5	0s	0s	NOUN
aiti-4139	263	1			INTJ
aiti-4139	263	2	,	,	PUNCT
aiti-4139	263	3	kw	kw	INTJ
aiti-4139	263	4	and	and	CCONJ
aiti-4139	263	5	fw	fw	NOUN
aiti-4139	263	6	of	of	ADP
aiti-4139	263	7	following	follow	VERB
aiti-4139	263	8	lmi	lmi	PROPN
aiti-4139	263	9	condition	condition	NOUN
aiti-4139	263	10	:	:	PUNCT
aiti-4139	263	11	11	11	NUM
aiti-4139	263	12	12	12	NUM
aiti-4139	263	13	13	13	NUM
aiti-4139	263	14	22	22	NUM
aiti-4139	263	15	23	23	NUM
aiti-4139	263	16	33	33	NUM
aiti-4139	263	17	11	11	NUM
aiti-4139	263	18	12	12	NUM
aiti-4139	263	19	13	13	NUM
aiti-4139	263	20	22	22	NUM
aiti-4139	263	21	33	33	NUM
aiti-4139	263	22	23	23	NUM
aiti-4139	263	23	*	*	SYM
aiti-4139	263	24	0	0	PUNCT
aiti-4139	264	1	*	*	PUNCT
aiti-4139	264	2	*	*	PUNCT
aiti-4139	264	3	,	,	PUNCT
aiti-4139	264	4	2	2	NUM
aiti-4139	264	5	,	,	PUNCT
aiti-4139	264	6	2	2	NUM
aiti-4139	264	7	2	2	NUM
aiti-4139	264	8	,	,	PUNCT
aiti-4139	265	1	k	k	PROPN
aiti-4139	265	2	k	k	PROPN
aiti-4139	265	3	t	t	PROPN
aiti-4139	265	4	t	t	PROPN
aiti-4139	265	5	t	t	PROPN
aiti-4139	265	6	t	t	PROPN
aiti-4139	265	7	t	t	PROPN
aiti-4139	265	8	k	k	PROPN
aiti-4139	265	9	k	k	PROPN
aiti-4139	265	10	k	k	PROPN
aiti-4139	265	11	t	t	PROPN
aiti-4139	265	12	t	t	PROPN
aiti-4139	265	13	t	t	PROPN
aiti-4139	265	14	t	t	PROPN
aiti-4139	265	15	t	t	PROPN
aiti-4139	265	16	t	t	PROPN
aiti-4139	265	17	t	t	PROPN
aiti-4139	266	1	k	k	PROPN
aiti-4139	267	1	k	k	PROPN
aiti-4139	268	1	f	f	X
aiti-4139	269	1	f	f	X
aiti-4139	269	2	f	f	PROPN
aiti-4139	269	3	f	f	PROPN
aiti-4139	270	1	a	a	PRON
aiti-4139	270	2	a	a	X
aiti-4139	270	3	bk	bk	ADP
aiti-4139	270	4	a	a	DET
aiti-4139	270	5	a	a	DET
aiti-4139	270	6	bk	bk	NOUN
aiti-4139	270	7	bf	bf	NOUN
aiti-4139	270	8	sa	sa	NOUN
aiti-4139	270	9	as	as	ADP
aiti-4139	270	10	w	w	PROPN
aiti-4139	270	11	b	b	PROPN
aiti-4139	270	12	bw	bw	PROPN
aiti-4139	270	13	w	w	PROPN
aiti-4139	270	14	b	b	PROPN
aiti-4139	270	15	sa	sa	PROPN
aiti-4139	270	16	as	as	ADP
aiti-4139	270	17	w	w	PROPN
aiti-4139	270	18	b	b	PROPN
aiti-4139	270	19	bw	bw	PROPN
aiti-4139	270	20	bw	bw	PROPN
aiti-4139	270	21	w	w	PROPN
aiti-4139	270	22	b	b	PROPN
aiti-4139	270	23	w	w	PROPN
aiti-4139	270	24	b	b	PROPN
aiti-4139	270	25	bw	bw	PROPN
aiti-4139	270	26			NOUN
aiti-4139	270	27			NOUN
aiti-4139	271	1			NOUN
aiti-4139	271	2			NOUN
aiti-4139	272	1			NOUN
aiti-4139	272	2			NOUN
aiti-4139	273	1			NOUN
aiti-4139	273	2			NOUN
aiti-4139	274	1			NOUN
aiti-4139	274	2			NOUN
aiti-4139	275	1			NOUN
aiti-4139	276	1			NOUN
aiti-4139	276	2			NOUN
aiti-4139	276	3			NOUN
aiti-4139	276	4			PROPN
aiti-4139	276	5			PROPN
aiti-4139	276	6			PUNCT
aiti-4139	276	7			PROPN
aiti-4139	277	1			PROPN
aiti-4139	277	2			PROPN
aiti-4139	278	1			PROPN
aiti-4139	278	2			PROPN
aiti-4139	278	3			NUM
aiti-4139	278	4			ADJ
aiti-4139	278	5			PROPN
aiti-4139	278	6			ADV
aiti-4139	278	7			PUNCT
aiti-4139	278	8			PROPN
aiti-4139	278	9			PROPN
aiti-4139	278	10			PUNCT
aiti-4139	278	11			PUNCT
aiti-4139	279	1			PROPN
aiti-4139	279	2			PROPN
aiti-4139	279	3			PROPN
aiti-4139	279	4			PROPN
aiti-4139	279	5			PROPN
aiti-4139	279	6			ADV
aiti-4139	279	7			PUNCT
aiti-4139	279	8			PROPN
aiti-4139	279	9			VERB
aiti-4139	279	10			PUNCT
aiti-4139	279	11			PRON
aiti-4139	279	12			NOUN
aiti-4139	279	13	(	(	PUNCT
aiti-4139	279	14	23	23	NUM
aiti-4139	279	15	)	)	PUNCT
aiti-4139	279	16	then	then	ADV
aiti-4139	279	17	the	the	DET
aiti-4139	279	18	compensation	compensation	NOUN
aiti-4139	279	19	input	input	NOUN
aiti-4139	279	20	(	(	PUNCT
aiti-4139	279	21	)	)	PUNCT
aiti-4139	279	22	v	v	NOUN
aiti-4139	279	23	t	t	PROPN
aiti-4139	279	24	is	be	AUX
aiti-4139	279	25	designed	design	VERB
aiti-4139	279	26	as	as	ADP
aiti-4139	279	27	follows	follow	VERB
aiti-4139	279	28	,	,	PUNCT
aiti-4139	279	29	2	2	NUM
aiti-4139	279	30	2	2	NUM
aiti-4139	279	31	2	2	NUM
aiti-4139	279	32	3	3	NUM
aiti-4139	279	33	22	22	NUM
aiti-4139	279	34	23	23	NUM
aiti-4139	279	35	3	3	NUM
aiti-4139	279	36	3	3	NUM
aiti-4139	279	37	2	2	NUM
aiti-4139	279	38	32	32	NUM
aiti-4139	279	39	3	3	NUM
aiti-4139	279	40	0	0	NUM
aiti-4139	279	41	(	(	PUNCT
aiti-4139	279	42	)	)	PUNCT
aiti-4139	279	43	(	(	PUNCT
aiti-4139	279	44	)	)	PUNCT
aiti-4139	279	45	(	(	PUNCT
aiti-4139	279	46	)	)	PUNCT
aiti-4139	279	47	(	(	PUNCT
aiti-4139	279	48	)	)	PUNCT
aiti-4139	279	49	2	2	NUM
aiti-4139	279	50	(	(	PUNCT
aiti-4139	279	51	)	)	PUNCT
aiti-4139	279	52	(	(	PUNCT
aiti-4139	279	53	)	)	PUNCT
aiti-4139	279	54	(	(	PUNCT
aiti-4139	279	55	)	)	PUNCT
aiti-4139	279	56	(	(	PUNCT
aiti-4139	279	57	)	)	PUNCT
aiti-4139	279	58	2	2	NUM
aiti-4139	279	59	(	(	PUNCT
aiti-4139	279	60	)	)	PUNCT
aiti-4139	279	61	(	(	PUNCT
aiti-4139	279	62	)	)	PUNCT
aiti-4139	279	63	t	t	NOUN
aiti-4139	280	1	tl	tl	PROPN
aiti-4139	280	2	t	t	PROPN
aiti-4139	280	3	t	t	PROPN
aiti-4139	280	4	t	t	PROPN
aiti-4139	280	5	t	t	PROPN
aiti-4139	280	6	t	t	PROPN
aiti-4139	280	7	t	t	PROPN
aiti-4139	280	8	v	v	ADP
aiti-4139	280	9	t	t	PROPN
aiti-4139	281	1	f	f	PROPN
aiti-4139	281	2	b	b	PROPN
aiti-4139	281	3	px	px	PROPN
aiti-4139	281	4	t	t	PROPN
aiti-4139	281	5	v	v	ADP
aiti-4139	281	6	t	t	PROPN
aiti-4139	281	7	v	v	NOUN
aiti-4139	281	8	t	t	X
aiti-4139	281	9	fd	fd	INTJ
aiti-4139	282	1	dm	dm	PROPN
aiti-4139	282	2	b	b	PROPN
aiti-4139	282	3	px	px	PROPN
aiti-4139	282	4	t	t	PROPN
aiti-4139	282	5	b	b	PROPN
aiti-4139	282	6	px	px	PROPN
aiti-4139	282	7	tv	tv	PROPN
aiti-4139	282	8	t	t	PROPN
aiti-4139	283	1	f	f	PROPN
aiti-4139	283	2	b	b	PROPN
aiti-4139	283	3	px	px	PROPN
aiti-4139	283	4	t	t	PROPN
aiti-4139	283	5	fd	fd	PROPN
aiti-4139	283	6	dm	dm	PROPN
aiti-4139	283	7	b	b	PROPN
aiti-4139	283	8	px	px	PROPN
aiti-4139	283	9	t	t	PROPN
aiti-4139	283	10	b	b	PROPN
aiti-4139	283	11	px	px	PROPN
aiti-4139	283	12	t	t	PROPN
aiti-4139	283	13			NOUN
aiti-4139	284	1			PROPN
aiti-4139	284	2			PROPN
aiti-4139	284	3			PROPN
aiti-4139	285	1			PROPN
aiti-4139	285	2			PROPN
aiti-4139	285	3			NOUN
aiti-4139	286	1			PROPN
aiti-4139	287	1			NUM
aiti-4139	287	2			PROPN
aiti-4139	287	3			PROPN
aiti-4139	287	4			PROPN
aiti-4139	287	5			NOUN
aiti-4139	288	1			PROPN
aiti-4139	288	2			PROPN
aiti-4139	288	3			NOUN
aiti-4139	289	1			PROPN
aiti-4139	289	2			PROPN
aiti-4139	289	3			PROPN
aiti-4139	289	4			PROPN
aiti-4139	290	1			PROPN
aiti-4139	291	1			PROPN
aiti-4139	291	2			PROPN
aiti-4139	291	3			PROPN
aiti-4139	291	4			NOUN
aiti-4139	291	5			PROPN
aiti-4139	291	6			PROPN
aiti-4139	292	1			PROPN
aiti-4139	293	1			PROPN
aiti-4139	293	2			PROPN
aiti-4139	294	1			PROPN
aiti-4139	294	2			NOUN
aiti-4139	294	3	(	(	PUNCT
aiti-4139	294	4	24	24	NUM
aiti-4139	294	5	)	)	PUNCT
aiti-4139	294	6	where	where	SCONJ
aiti-4139	294	7	the	the	DET
aiti-4139	294	8	matrix	matrix	NOUN
aiti-4139	294	9	p	p	NOUN
aiti-4139	294	10	is	be	AUX
aiti-4139	294	11	given	give	VERB
aiti-4139	294	12	by	by	ADP
aiti-4139	294	13	1p	1p	ADJ
aiti-4139	294	14	s	s	PROPN
aiti-4139	294	15	and	and	CCONJ
aiti-4139	294	16	the	the	DET
aiti-4139	294	17	feedback	feedback	NOUN
aiti-4139	294	18	gain	gain	NOUN
aiti-4139	294	19	matrix	matrix	NOUN
aiti-4139	294	20	k	k	PROPN
aiti-4139	294	21	and	and	CCONJ
aiti-4139	294	22	the	the	DET
aiti-4139	294	23	consensus	consensus	NOUN
aiti-4139	294	24	one	one	NOUN
aiti-4139	294	25	f	f	NOUN
aiti-4139	294	26	are	be	AUX
aiti-4139	294	27	designed	design	VERB
aiti-4139	294	28	as	as	ADP
aiti-4139	294	29	1	1	NUM
aiti-4139	294	30	kk	kk	PROPN
aiti-4139	294	31	w	w	PROPN
aiti-4139	294	32	s	s	PROPN
aiti-4139	294	33	(	(	PUNCT
aiti-4139	294	34	25	25	NUM
aiti-4139	294	35	)	)	PUNCT
aiti-4139	294	36	1	1	NUM
aiti-4139	294	37	ff	ff	PROPN
aiti-4139	294	38	w	w	PROPN
aiti-4139	294	39	s	s	PROPN
aiti-4139	294	40	(	(	PUNCT
aiti-4139	294	41	26	26	NUM
aiti-4139	294	42	)	)	PUNCT
aiti-4139	294	43	moreover	moreover	ADV
aiti-4139	294	44	,	,	PUNCT
aiti-4139	294	45	by	by	ADP
aiti-4139	294	46	applying	apply	VERB
aiti-4139	294	47	the	the	DET
aiti-4139	294	48	control	control	NOUN
aiti-4139	294	49	input	input	NOUN
aiti-4139	294	50	of	of	ADP
aiti-4139	294	51	(	(	PUNCT
aiti-4139	294	52	27	27	NUM
aiti-4139	294	53	)	)	PUNCT
aiti-4139	294	54	with	with	ADP
aiti-4139	294	55	the	the	DET
aiti-4139	294	56	compensation	compensation	NOUN
aiti-4139	294	57	input	input	NOUN
aiti-4139	294	58	(	(	PUNCT
aiti-4139	294	59	)	)	PUNCT
aiti-4139	294	60	v	v	ADP
aiti-4139	294	61	t	t	NOUN
aiti-4139	294	62	of	of	ADP
aiti-4139	294	63	(	(	PUNCT
aiti-4139	294	64	24	24	NUM
aiti-4139	294	65	)	)	PUNCT
aiti-4139	294	66	the	the	DET
aiti-4139	294	67	gain	gain	NOUN
aiti-4139	294	68	matrices	matrice	VERB
aiti-4139	294	69	k	k	X
aiti-4139	294	70	(	(	PUNCT
aiti-4139	294	71	25	25	NUM
aiti-4139	294	72	)	)	PUNCT
aiti-4139	294	73	and	and	CCONJ
aiti-4139	294	74	f	f	PROPN
aiti-4139	294	75	(	(	PUNCT
aiti-4139	294	76	26	26	NUM
aiti-4139	294	77	)	)	PUNCT
aiti-4139	294	78	to	to	ADP
aiti-4139	294	79	the	the	DET
aiti-4139	294	80	overall	overall	ADJ
aiti-4139	294	81	system	system	NOUN
aiti-4139	294	82	of	of	ADP
aiti-4139	294	83	(	(	PUNCT
aiti-4139	294	84	14	14	NUM
aiti-4139	294	85	)	)	PUNCT
aiti-4139	294	86	,	,	PUNCT
aiti-4139	294	87	asymptotic	asymptotic	ADJ
aiti-4139	294	88	stability	stability	NOUN
aiti-4139	294	89	of	of	ADP
aiti-4139	294	90	the	the	DET
aiti-4139	294	91	closed	closed	ADJ
aiti-4139	294	92	-	-	PUNCT
aiti-4139	294	93	loop	loop	NOUN
aiti-4139	294	94	system	system	NOUN
aiti-4139	294	95	of	of	ADP
aiti-4139	294	96	(	(	PUNCT
aiti-4139	294	97	22	22	NUM
aiti-4139	294	98	)	)	PUNCT
aiti-4139	294	99	is	be	AUX
aiti-4139	294	100	guaranteed	guarantee	VERB
aiti-4139	294	101	.	.	PUNCT
aiti-4139	295	1	proof	proof	NOUN
aiti-4139	295	2	:	:	PUNCT
aiti-4139	295	3	using	use	VERB
aiti-4139	295	4	a	a	DET
aiti-4139	295	5	positive	positive	ADJ
aiti-4139	295	6	definite	definite	ADJ
aiti-4139	295	7	symmetric	symmetric	ADJ
aiti-4139	295	8	matrix	matrix	NOUN
aiti-4139	295	9	4	4	NUM
aiti-4139	295	10	4tp	4tp	ADJ
aiti-4139	295	11	p	p	NOUN
aiti-4139	295	12			NOUN
aiti-4139	295	13			NOUN
aiti-4139	295	14	,	,	PUNCT
aiti-4139	295	15	we	we	PRON
aiti-4139	295	16	introduce	introduce	VERB
aiti-4139	295	17	the	the	DET
aiti-4139	295	18	following	follow	VERB
aiti-4139	295	19	quadratic	quadratic	ADJ
aiti-4139	295	20	function	function	NOUN
aiti-4139	295	21	as	as	ADP
aiti-4139	295	22	a	a	DET
aiti-4139	295	23	candidate	candidate	NOUN
aiti-4139	295	24	for	for	ADP
aiti-4139	295	25	lyapunov	lyapunov	ADJ
aiti-4139	295	26	function	function	NOUN
aiti-4139	295	27	:	:	PUNCT
aiti-4139	295	28	3	3	NUM
aiti-4139	295	29	(	(	PUNCT
aiti-4139	295	30	,	,	PUNCT
aiti-4139	295	31	)	)	PUNCT
aiti-4139	295	32	(	(	PUNCT
aiti-4139	295	33	)	)	PUNCT
aiti-4139	295	34	(	(	PUNCT
aiti-4139	295	35	)	)	PUNCT
aiti-4139	295	36	(	(	PUNCT
aiti-4139	295	37	)	)	PUNCT
aiti-4139	295	38	tv	tv	NOUN
aiti-4139	295	39	x	x	X
aiti-4139	296	1	t	t	NOUN
aiti-4139	296	2	x	x	PUNCT
aiti-4139	297	1	t	t	NOUN
aiti-4139	298	1	i	i	PRON
aiti-4139	298	2	p	p	X
aiti-4139	298	3	x	x	X
aiti-4139	298	4	t	t	PROPN
aiti-4139	298	5			X
aiti-4139	298	6	(	(	PUNCT
aiti-4139	298	7	27	27	NUM
aiti-4139	298	8	)	)	PUNCT
aiti-4139	298	9	the	the	DET
aiti-4139	298	10	time	time	NOUN
aiti-4139	298	11	derivative	derivative	NOUN
aiti-4139	298	12	of	of	ADP
aiti-4139	298	13	the	the	DET
aiti-4139	298	14	quadratic	quadratic	ADJ
aiti-4139	298	15	function	function	NOUN
aiti-4139	298	16	along	along	ADP
aiti-4139	298	17	the	the	DET
aiti-4139	298	18	trajectory	trajectory	NOUN
aiti-4139	298	19	of	of	ADP
aiti-4139	298	20	the	the	DET
aiti-4139	298	21	closed	closed	ADJ
aiti-4139	298	22	-	-	PUNCT
aiti-4139	298	23	loop	loop	NOUN
aiti-4139	298	24	system	system	NOUN
aiti-4139	298	25	of	of	ADP
aiti-4139	298	26	(	(	PUNCT
aiti-4139	298	27	22	22	NUM
aiti-4139	298	28	)	)	PUNCT
aiti-4139	298	29	satisfies	satisfy	VERB
aiti-4139	298	30			NOUN
aiti-4139	298	31	3	3	ADJ
aiti-4139	298	32	3	3	NUM
aiti-4139	298	33	(	(	PUNCT
aiti-4139	298	34	,	,	PUNCT
aiti-4139	298	35	)	)	PUNCT
aiti-4139	298	36	(	(	PUNCT
aiti-4139	298	37	)	)	PUNCT
aiti-4139	298	38	(	(	PUNCT
aiti-4139	298	39	)	)	PUNCT
aiti-4139	298	40	(	(	PUNCT
aiti-4139	298	41	)	)	PUNCT
aiti-4139	298	42	(	(	PUNCT
aiti-4139	298	43	)	)	PUNCT
aiti-4139	298	44	(	(	PUNCT
aiti-4139	298	45	)	)	PUNCT
aiti-4139	298	46	(	(	PUNCT
aiti-4139	298	47	)	)	PUNCT
aiti-4139	298	48	t	t	NOUN
aiti-4139	298	49	td	td	NOUN
aiti-4139	299	1	d	d	PROPN
aiti-4139	299	2	d	d	X
aiti-4139	299	3	v	v	NUM
aiti-4139	299	4	x	x	SYM
aiti-4139	299	5	t	t	NOUN
aiti-4139	299	6	x	x	PUNCT
aiti-4139	300	1	t	t	NOUN
aiti-4139	301	1	i	i	PRON
aiti-4139	301	2	p	p	X
aiti-4139	301	3	x	x	X
aiti-4139	301	4	t	t	X
aiti-4139	301	5	x	x	SYM
aiti-4139	301	6	t	t	NOUN
aiti-4139	302	1	i	i	PRON
aiti-4139	302	2	p	p	X
aiti-4139	302	3	x	x	X
aiti-4139	302	4	t	t	NOUN
aiti-4139	302	5	dt	dt	NOUN
aiti-4139	302	6	dt	dt	NOUN
aiti-4139	303	1	dt	dt	X
aiti-4139	304	1			PROPN
aiti-4139	304	2			ADP
aiti-4139	304	3			X
aiti-4139	304	4			X
aiti-4139	304	5	(	(	PUNCT
aiti-4139	304	6	28	28	NUM
aiti-4139	304	7	)	)	PUNCT
aiti-4139	304	8	advances	advance	NOUN
aiti-4139	304	9	technology	technology	NOUN
aiti-4139	304	10	innovation	innovation	NOUN
aiti-4139	304	11	,	,	PUNCT
aiti-4139	304	12	vol	vol	NOUN
aiti-4139	304	13	.	.	PROPN
aiti-4139	304	14	4	4	NUM
aiti-4139	304	15	,	,	PUNCT
aiti-4139	304	16	no	no	INTJ
aiti-4139	304	17	.	.	NOUN
aiti-4139	304	18	4	4	NUM
aiti-4139	304	19	,	,	PUNCT
aiti-4139	304	20	2019	2019	NUM
aiti-4139	304	21	,	,	PUNCT
aiti-4139	304	22	pp	pp	ADJ
aiti-4139	304	23	.	.	PUNCT
aiti-4139	305	1	234	234	NUM
aiti-4139	305	2	-	-	SYM
aiti-4139	305	3	246	246	NUM
aiti-4139	305	4	240	240	NUM
aiti-4139	305	5	as	as	SCONJ
aiti-4139	305	6	is	be	AUX
aiti-4139	305	7	well	well	ADV
aiti-4139	305	8	known	know	VERB
aiti-4139	305	9	,	,	PUNCT
aiti-4139	305	10	the	the	DET
aiti-4139	305	11	stability	stability	NOUN
aiti-4139	305	12	condition	condition	NOUN
aiti-4139	305	13	for	for	ADP
aiti-4139	305	14	the	the	DET
aiti-4139	305	15	closed	closed	ADJ
aiti-4139	305	16	-	-	PUNCT
aiti-4139	305	17	loop	loop	NOUN
aiti-4139	305	18	system	system	NOUN
aiti-4139	305	19	is	be	AUX
aiti-4139	305	20	(	(	PUNCT
aiti-4139	305	21	,	,	PUNCT
aiti-4139	305	22	)	)	PUNCT
aiti-4139	305	23	0	0	PUNCT
aiti-4139	306	1	d	d	NOUN
aiti-4139	306	2	dt	dt	X
aiti-4139	306	3	v	v	NOUN
aiti-4139	306	4	x	x	SYM
aiti-4139	306	5	t	t	NOUN
aiti-4139	306	6			PROPN
aiti-4139	306	7	(	(	PUNCT
aiti-4139	306	8	29	29	NUM
aiti-4139	306	9	)	)	PUNCT
aiti-4139	306	10	and	and	CCONJ
aiti-4139	306	11	the	the	DET
aiti-4139	306	12	time	time	NOUN
aiti-4139	306	13	derivative	derivative	NOUN
aiti-4139	306	14	of	of	ADP
aiti-4139	306	15	the	the	DET
aiti-4139	306	16	quadratic	quadratic	ADJ
aiti-4139	306	17	function	function	NOUN
aiti-4139	306	18	along	along	ADP
aiti-4139	306	19	the	the	DET
aiti-4139	306	20	trajectory	trajectory	NOUN
aiti-4139	306	21	of	of	ADP
aiti-4139	306	22	the	the	DET
aiti-4139	306	23	closed	closed	ADJ
aiti-4139	306	24	-	-	PUNCT
aiti-4139	306	25	loop	loop	NOUN
aiti-4139	306	26	system	system	NOUN
aiti-4139	306	27	of	of	ADP
aiti-4139	306	28	(	(	PUNCT
aiti-4139	306	29	22	22	NUM
aiti-4139	306	30	)	)	PUNCT
aiti-4139	306	31	can	can	AUX
aiti-4139	306	32	be	be	AUX
aiti-4139	306	33	written	write	VERB
aiti-4139	306	34	as	as	ADP
aiti-4139	306	35	2	2	NUM
aiti-4139	306	36	2	2	NUM
aiti-4139	306	37	3	3	NUM
aiti-4139	306	38	3	3	NUM
aiti-4139	306	39	3	3	NUM
aiti-4139	306	40	2	2	NUM
aiti-4139	306	41	3	3	NUM
aiti-4139	306	42	3	3	NUM
aiti-4139	306	43	2	2	NUM
aiti-4139	306	44	2	2	NUM
aiti-4139	306	45	3	3	NUM
aiti-4139	306	46	3	3	NUM
aiti-4139	306	47	0	0	NUM
aiti-4139	306	48	0	0	NUM
aiti-4139	306	49	(	(	PUNCT
aiti-4139	306	50	)	)	PUNCT
aiti-4139	306	51	(	(	PUNCT
aiti-4139	306	52	,	,	PUNCT
aiti-4139	306	53	)	)	PUNCT
aiti-4139	306	54	(	(	PUNCT
aiti-4139	306	55	)	)	PUNCT
aiti-4139	306	56	(	(	PUNCT
aiti-4139	306	57	)	)	PUNCT
aiti-4139	306	58	(	(	PUNCT
aiti-4139	306	59	2	2	X
aiti-4139	306	60	)	)	PUNCT
aiti-4139	306	61	(	(	PUNCT
aiti-4139	306	62	)	)	PUNCT
aiti-4139	306	63	(	(	PUNCT
aiti-4139	306	64	)	)	PUNCT
aiti-4139	306	65	(	(	PUNCT
aiti-4139	306	66	)	)	PUNCT
aiti-4139	306	67	(	(	PUNCT
aiti-4139	306	68	2	2	NUM
aiti-4139	306	69	)	)	PUNCT
aiti-4139	306	70	0	0	NUM
aiti-4139	306	71	0	0	NUM
aiti-4139	306	72	(	(	PUNCT
aiti-4139	306	73	)	)	PUNCT
aiti-4139	306	74	(	(	PUNCT
aiti-4139	306	75	)	)	PUNCT
aiti-4139	306	76	(	(	PUNCT
aiti-4139	306	77	)	)	PUNCT
aiti-4139	306	78	(	(	PUNCT
aiti-4139	306	79	)	)	PUNCT
aiti-4139	306	80	(	(	PUNCT
aiti-4139	306	81	)	)	PUNCT
aiti-4139	306	82	(	(	PUNCT
aiti-4139	306	83	2	2	X
aiti-4139	306	84	)	)	PUNCT
aiti-4139	306	85	(	(	PUNCT
aiti-4139	306	86	)	)	PUNCT
aiti-4139	307	1	t	t	PROPN
aiti-4139	307	2	k	k	NOUN
aiti-4139	308	1	l	l	PUNCT
aiti-4139	309	1	f	f	PROPN
aiti-4139	310	1	f	f	X
aiti-4139	310	2	k	k	PROPN
aiti-4139	310	3	l	l	PROPN
aiti-4139	310	4	t	t	NOUN
aiti-4139	310	5	f	f	PROPN
aiti-4139	310	6	f	f	PROPN
aiti-4139	310	7	a	a	DET
aiti-4139	310	8	bv	bv	PROPN
aiti-4139	310	9	t	t	PROPN
aiti-4139	310	10	d	d	PROPN
aiti-4139	310	11	v	v	PROPN
aiti-4139	310	12	x	x	SYM
aiti-4139	310	13	t	t	NOUN
aiti-4139	310	14	bf	bf	NOUN
aiti-4139	310	15	a	a	DET
aiti-4139	310	16	bf	bf	NOUN
aiti-4139	310	17	x	x	SYM
aiti-4139	310	18	t	t	PROPN
aiti-4139	310	19	bv	bv	PROPN
aiti-4139	311	1	t	t	PROPN
aiti-4139	311	2	bf	bf	NOUN
aiti-4139	312	1	d	d	PROPN
aiti-4139	312	2	d	d	NOUN
aiti-4139	313	1	i	i	PRON
aiti-4139	313	2	p	p	NOUN
aiti-4139	313	3	x	x	X
aiti-4139	313	4	t	t	X
aiti-4139	313	5	dt	dt	NOUN
aiti-4139	313	6	bf	bf	NOUN
aiti-4139	313	7	bf	bf	PROPN
aiti-4139	313	8	a	a	DET
aiti-4139	313	9	bv	bv	PROPN
aiti-4139	313	10	t	t	PROPN
aiti-4139	313	11	bf	bf	NOUN
aiti-4139	314	1	d	d	PROPN
aiti-4139	314	2	d	d	X
aiti-4139	314	3	a	a	DET
aiti-4139	314	4	bv	bv	PROPN
aiti-4139	314	5	t	t	PROPN
aiti-4139	314	6	x	x	PUNCT
aiti-4139	314	7	t	t	NOUN
aiti-4139	315	1	i	i	PRON
aiti-4139	315	2	p	p	NOUN
aiti-4139	315	3	bf	bf	NOUN
aiti-4139	315	4	a	a	DET
aiti-4139	315	5	bf	bf	NOUN
aiti-4139	315	6	x	x	SYM
aiti-4139	315	7	t	t	PROPN
aiti-4139	315	8	bv	bv	PROPN
aiti-4139	316	1	t	t	PROPN
aiti-4139	316	2	bf	bf	NOUN
aiti-4139	316	3	d	d	PROPN
aiti-4139	316	4	d	d	PROPN
aiti-4139	316	5	bf	bf	NOUN
aiti-4139	316	6	bf	bf	NOUN
aiti-4139	316	7	a	a	DET
aiti-4139	316	8	bv	bv	PROPN
aiti-4139	316	9	t	t	PROPN
aiti-4139	316	10	b	b	PROPN
aiti-4139	316	11			NOUN
aiti-4139	316	12			VERB
aiti-4139	316	13			PROPN
aiti-4139	316	14			PROPN
aiti-4139	316	15			NUM
aiti-4139	316	16			ADJ
aiti-4139	316	17			X
aiti-4139	317	1			PROPN
aiti-4139	318	1			PROPN
aiti-4139	318	2			PROPN
aiti-4139	318	3			PROPN
aiti-4139	318	4			ADV
aiti-4139	318	5			VERB
aiti-4139	318	6			PROPN
aiti-4139	318	7			NUM
aiti-4139	318	8			NOUN
aiti-4139	318	9			NOUN
aiti-4139	319	1			PROPN
aiti-4139	319	2			NUM
aiti-4139	319	3			NUM
aiti-4139	319	4			PROPN
aiti-4139	319	5			PROPN
aiti-4139	319	6			ADJ
aiti-4139	319	7			PROPN
aiti-4139	319	8			CCONJ
aiti-4139	319	9			NOUN
aiti-4139	319	10			NUM
aiti-4139	319	11			NOUN
aiti-4139	319	12			PROPN
aiti-4139	319	13			PROPN
aiti-4139	319	14			PROPN
aiti-4139	319	15			NOUN
aiti-4139	319	16			PROPN
aiti-4139	319	17			PROPN
aiti-4139	319	18			PROPN
aiti-4139	319	19			VERB
aiti-4139	319	20			ADJ
aiti-4139	319	21			PROPN
aiti-4139	319	22			PROPN
aiti-4139	319	23			PUNCT
aiti-4139	319	24			PRON
aiti-4139	319	25			PROPN
aiti-4139	319	26			PROPN
aiti-4139	320	1			PROPN
aiti-4139	320	2			NOUN
aiti-4139	320	3			PROPN
aiti-4139	320	4			NOUN
aiti-4139	320	5			NOUN
aiti-4139	320	6	2	2	NUM
aiti-4139	320	7	3	3	NUM
aiti-4139	320	8	2	2	NUM
aiti-4139	320	9	2	2	NUM
aiti-4139	320	10	3	3	NUM
aiti-4139	320	11	2	2	NUM
aiti-4139	320	12	2	2	NUM
aiti-4139	320	13	3	3	NUM
aiti-4139	320	14	3	3	NUM
aiti-4139	320	15	2	2	NUM
aiti-4139	320	16	3	3	NUM
aiti-4139	320	17	3	3	NUM
aiti-4139	320	18	(	(	PUNCT
aiti-4139	320	19	2	2	NUM
aiti-4139	320	20	)	)	PUNCT
aiti-4139	320	21	(	(	PUNCT
aiti-4139	320	22	)	)	PUNCT
aiti-4139	320	23	(	(	PUNCT
aiti-4139	320	24	)	)	PUNCT
aiti-4139	321	1	*	*	PUNCT
aiti-4139	321	2	(	(	PUNCT
aiti-4139	321	3	)	)	PUNCT
aiti-4139	321	4	(	(	PUNCT
aiti-4139	321	5	)	)	PUNCT
aiti-4139	321	6	(	(	PUNCT
aiti-4139	321	7	)	)	PUNCT
aiti-4139	321	8	(	(	PUNCT
aiti-4139	321	9	)	)	PUNCT
aiti-4139	321	10	(	(	PUNCT
aiti-4139	321	11	2	2	X
aiti-4139	321	12	)	)	PUNCT
aiti-4139	321	13	(	(	PUNCT
aiti-4139	321	14	)	)	PUNCT
aiti-4139	321	15	(	(	PUNCT
aiti-4139	321	16	2	2	X
aiti-4139	321	17	)	)	PUNCT
aiti-4139	321	18	(	(	PUNCT
aiti-4139	321	19	)	)	PUNCT
aiti-4139	321	20	(	(	PUNCT
aiti-4139	321	21	2	2	X
aiti-4139	321	22	)	)	PUNCT
aiti-4139	321	23	(	(	PUNCT
aiti-4139	321	24	)	)	PUNCT
aiti-4139	321	25	t	t	NOUN
aiti-4139	321	26	t	t	PROPN
aiti-4139	321	27	t	t	PROPN
aiti-4139	321	28	t	t	PROPN
aiti-4139	321	29	t	t	PROPN
aiti-4139	321	30	k	k	PROPN
aiti-4139	321	31	k	k	PROPN
aiti-4139	321	32	t	t	PROPN
aiti-4139	321	33	t	t	PROPN
aiti-4139	321	34	t	t	PROPN
aiti-4139	321	35	t	t	PROPN
aiti-4139	322	1	f	f	PROPN
aiti-4139	322	2	f	f	PROPN
aiti-4139	323	1	t	t	PROPN
aiti-4139	323	2	f	f	PROPN
aiti-4139	324	1	f	f	PROPN
aiti-4139	324	2	l	l	PROPN
aiti-4139	324	3	l	l	NOUN
aiti-4139	324	4	t	t	NOUN
aiti-4139	324	5	t	t	PROPN
aiti-4139	324	6	t	t	PROPN
aiti-4139	324	7	t	t	PROPN
aiti-4139	324	8	t	t	PROPN
aiti-4139	324	9	f	f	PROPN
aiti-4139	325	1	d	d	PROPN
aiti-4139	325	2	d	d	PROPN
aiti-4139	325	3	a	a	DET
aiti-4139	325	4	p	p	X
aiti-4139	326	1	pa	pa	PROPN
aiti-4139	326	2	f	f	PROPN
aiti-4139	326	3	b	b	PROPN
aiti-4139	326	4	p	p	X
aiti-4139	326	5	f	f	PROPN
aiti-4139	326	6	b	b	PROPN
aiti-4139	326	7	p	p	X
aiti-4139	326	8	x	x	PROPN
aiti-4139	326	9	t	t	PROPN
aiti-4139	326	10	pbf	pbf	PROPN
aiti-4139	326	11	a	a	DET
aiti-4139	326	12	p	p	X
aiti-4139	326	13	pa	pa	PROPN
aiti-4139	326	14	f	f	PROPN
aiti-4139	326	15	b	b	PROPN
aiti-4139	326	16	p	p	X
aiti-4139	326	17	pbf	pbf	PROPN
aiti-4139	326	18	x	x	SYM
aiti-4139	326	19	t	t	PROPN
aiti-4139	326	20	pbf	pbf	PROPN
aiti-4139	326	21	a	a	DET
aiti-4139	326	22	p	p	X
aiti-4139	326	23	pa	pa	PROPN
aiti-4139	326	24	v	v	ADP
aiti-4139	326	25	t	t	PROPN
aiti-4139	326	26	v	v	ADP
aiti-4139	326	27	t	t	PROPN
aiti-4139	326	28	x	x	PROPN
aiti-4139	326	29	t	t	PROPN
aiti-4139	326	30	p	p	PROPN
aiti-4139	326	31	b	b	PROPN
aiti-4139	326	32	v	v	ADP
aiti-4139	326	33	t	t	NOUN
aiti-4139	326	34	f	f	PROPN
aiti-4139	326	35	d	d	PROPN
aiti-4139	326	36	d	d	PROPN
aiti-4139	326	37	p	p	PROPN
aiti-4139	326	38	b	b	PROPN
aiti-4139	326	39	v	v	ADP
aiti-4139	326	40	t	t	NOUN
aiti-4139	326	41	f	f	PROPN
aiti-4139	326	42	d	d	PROPN
aiti-4139	326	43	d	d	PROPN
aiti-4139	326	44	v	v	X
aiti-4139	326	45	t	t	X
aiti-4139	327	1	f	f	PROPN
aiti-4139	327	2	d	d	PROPN
aiti-4139	327	3	d	d	PROPN
aiti-4139	327	4	v	v	ADP
aiti-4139	327	5	t	t	X
aiti-4139	327	6	f	f	X
aiti-4139	327	7			ADP
aiti-4139	327	8			NOUN
aiti-4139	327	9			PROPN
aiti-4139	327	10			NUM
aiti-4139	327	11			ADJ
aiti-4139	327	12			PROPN
aiti-4139	327	13			NUM
aiti-4139	327	14			NOUN
aiti-4139	328	1			ADJ
aiti-4139	328	2			NUM
aiti-4139	328	3			NUM
aiti-4139	328	4			NOUN
aiti-4139	328	5			PROPN
aiti-4139	328	6			PROPN
aiti-4139	328	7			PROPN
aiti-4139	328	8			NOUN
aiti-4139	328	9			VERB
aiti-4139	328	10			PROPN
aiti-4139	328	11			PROPN
aiti-4139	328	12			PROPN
aiti-4139	328	13			PROPN
aiti-4139	329	1			PROPN
aiti-4139	329	2			VERB
aiti-4139	329	3			PROPN
aiti-4139	329	4			PUNCT
aiti-4139	329	5			PROPN
aiti-4139	329	6			PROPN
aiti-4139	329	7			PROPN
aiti-4139	329	8			PROPN
aiti-4139	330	1			PROPN
aiti-4139	330	2			NOUN
aiti-4139	330	3			PUNCT
aiti-4139	330	4			PROPN
aiti-4139	330	5			NOUN
aiti-4139	331	1			NOUN
aiti-4139	331	2			PROPN
aiti-4139	331	3			PROPN
aiti-4139	331	4			PROPN
aiti-4139	331	5			VERB
aiti-4139	331	6			PUNCT
aiti-4139	331	7			PROPN
aiti-4139	331	8			VERB
aiti-4139	331	9			PRON
aiti-4139	331	10			PROPN
aiti-4139	331	11			PROPN
aiti-4139	332	1			PROPN
aiti-4139	332	2			PROPN
aiti-4139	333	1			PROPN
aiti-4139	333	2			SYM
aiti-4139	333	3			NUM
aiti-4139	333	4			NOUN
aiti-4139	333	5	2	2	NUM
aiti-4139	333	6	3	3	NUM
aiti-4139	333	7	(	(	PUNCT
aiti-4139	333	8	)	)	PUNCT
aiti-4139	333	9	(	(	PUNCT
aiti-4139	333	10	2	2	X
aiti-4139	333	11	)	)	PUNCT
aiti-4139	333	12	t	t	NOUN
aiti-4139	334	1	x	x	SYM
aiti-4139	334	2	t	t	PROPN
aiti-4139	334	3	d	d	X
aiti-4139	334	4	d	d	X
aiti-4139	334	5			NOUN
aiti-4139	334	6			NOUN
aiti-4139	334	7			NOUN
aiti-4139	334	8			NUM
aiti-4139	334	9			ADJ
aiti-4139	334	10			PROPN
aiti-4139	334	11			NUM
aiti-4139	334	12			NOUN
aiti-4139	335	1			ADJ
aiti-4139	335	2			NUM
aiti-4139	335	3			NUM
aiti-4139	335	4			NOUN
aiti-4139	335	5			PROPN
aiti-4139	335	6			PROPN
aiti-4139	335	7			PROPN
aiti-4139	335	8	(	(	PUNCT
aiti-4139	335	9	30	30	NUM
aiti-4139	335	10	)	)	PUNCT
aiti-4139	335	11	where	where	SCONJ
aiti-4139	335	12	12	12	NUM
aiti-4139	335	13	12	12	NUM
aiti-4139	335	14	tp	tp	NOUN
aiti-4139	335	15			NOUN
aiti-4139	335	16	is	be	AUX
aiti-4139	335	17	the	the	DET
aiti-4139	335	18	following	follow	VERB
aiti-4139	335	19	symmetric	symmetric	ADJ
aiti-4139	335	20	positive	positive	ADJ
aiti-4139	335	21	definite	definite	ADJ
aiti-4139	335	22	matrix	matrix	NOUN
aiti-4139	335	23	:	:	PUNCT
aiti-4139	335	24	3	3	NUM
aiti-4139	335	25	0	0	NUM
aiti-4139	335	26	0	0	NUM
aiti-4139	335	27	*	*	NOUN
aiti-4139	335	28	0	0	PUNCT
aiti-4139	336	1	*	*	PUNCT
aiti-4139	336	2	*	*	PUNCT
aiti-4139	337	1	t	t	PROPN
aiti-4139	338	1	p	p	X
aiti-4139	338	2	p	p	X
aiti-4139	339	1	i	i	PRON
aiti-4139	339	2	p	p	PROPN
aiti-4139	339	3	p	p	PROPN
aiti-4139	339	4	p	p	PROPN
aiti-4139	339	5			NOUN
aiti-4139	340	1			NOUN
aiti-4139	340	2			PROPN
aiti-4139	341	1			PROPN
aiti-4139	342	1			NUM
aiti-4139	342	2			PUNCT
aiti-4139	343	1			NOUN
aiti-4139	343	2			PROPN
aiti-4139	344	1			INTJ
aiti-4139	345	1			PROPN
aiti-4139	345	2			PROPN
aiti-4139	346	1			PROPN
aiti-4139	346	2			NOUN
aiti-4139	346	3	(	(	PUNCT
aiti-4139	346	4	31	31	NUM
aiti-4139	346	5	)	)	PUNCT
aiti-4139	346	6	here	here	ADV
aiti-4139	346	7	,	,	PUNCT
aiti-4139	346	8	by	by	ADP
aiti-4139	346	9	introducing	introduce	VERB
aiti-4139	346	10	the	the	DET
aiti-4139	346	11	matrix	matrix	NOUN
aiti-4139	346	12	(	(	PUNCT
aiti-4139	346	13	,	,	PUNCT
aiti-4139	346	14	,	,	PUNCT
aiti-4139	346	15	)	)	PUNCT
aiti-4139	346	16	p	p	PROPN
aiti-4139	346	17	k	k	PROPN
aiti-4139	346	18	f	f	X
aiti-4139	346	19	and	and	CCONJ
aiti-4139	346	20	the	the	DET
aiti-4139	346	21	scalar	scalar	ADJ
aiti-4139	346	22	function	function	NOUN
aiti-4139	346	23	(	(	PUNCT
aiti-4139	346	24	,	,	PUNCT
aiti-4139	346	25	,	,	PUNCT
aiti-4139	346	26	(	(	PUNCT
aiti-4139	346	27	)	)	PUNCT
aiti-4139	346	28	)	)	PUNCT
aiti-4139	347	1	p	p	X
aiti-4139	347	2	f	f	PROPN
aiti-4139	347	3	v	v	ADP
aiti-4139	347	4	t	t	NOUN
aiti-4139	347	5	which	which	PRON
aiti-4139	347	6	are	be	AUX
aiti-4139	347	7	defined	define	VERB
aiti-4139	347	8	as	as	ADP
aiti-4139	347	9			NOUN
aiti-4139	347	10			SYM
aiti-4139	347	11			NOUN
aiti-4139	347	12			ADJ
aiti-4139	347	13			PROPN
aiti-4139	347	14			PROPN
aiti-4139	347	15			NOUN
aiti-4139	347	16			PROPN
aiti-4139	347	17	2	2	NUM
aiti-4139	347	18	2	2	NUM
aiti-4139	347	19	3	3	NUM
aiti-4139	347	20	2	2	NUM
aiti-4139	347	21	2	2	NUM
aiti-4139	347	22	3	3	NUM
aiti-4139	347	23	3	3	NUM
aiti-4139	347	24	2	2	NUM
aiti-4139	347	25	3	3	NUM
aiti-4139	347	26	3	3	NUM
aiti-4139	347	27	2	2	NUM
aiti-4139	347	28	3	3	NUM
aiti-4139	347	29	2	2	NUM
aiti-4139	347	30	2	2	NUM
aiti-4139	347	31	3	3	NUM
aiti-4139	347	32	2	2	NUM
aiti-4139	347	33	3	3	NUM
aiti-4139	347	34	2	2	NUM
aiti-4139	347	35	3	3	NUM
aiti-4139	347	36	(	(	PUNCT
aiti-4139	347	37	)	)	PUNCT
aiti-4139	347	38	(	(	PUNCT
aiti-4139	347	39	)	)	PUNCT
aiti-4139	347	40	(	(	PUNCT
aiti-4139	347	41	,	,	PUNCT
aiti-4139	347	42	,	,	PUNCT
aiti-4139	347	43	(	(	PUNCT
aiti-4139	347	44	)	)	PUNCT
aiti-4139	347	45	)	)	PUNCT
aiti-4139	347	46	(	(	PUNCT
aiti-4139	347	47	)	)	PUNCT
aiti-4139	347	48	(	(	PUNCT
aiti-4139	347	49	)	)	PUNCT
aiti-4139	347	50	(	(	PUNCT
aiti-4139	347	51	2	2	X
aiti-4139	347	52	)	)	PUNCT
aiti-4139	347	53	(	(	PUNCT
aiti-4139	347	54	)	)	PUNCT
aiti-4139	347	55	(	(	PUNCT
aiti-4139	347	56	2	2	X
aiti-4139	347	57	)	)	PUNCT
aiti-4139	347	58	(	(	PUNCT
aiti-4139	347	59	)	)	PUNCT
aiti-4139	347	60	(	(	PUNCT
aiti-4139	347	61	)	)	PUNCT
aiti-4139	347	62	(	(	PUNCT
aiti-4139	347	63	2	2	X
aiti-4139	347	64	)	)	PUNCT
aiti-4139	347	65	(	(	PUNCT
aiti-4139	347	66	)	)	PUNCT
aiti-4139	347	67	(	(	PUNCT
aiti-4139	347	68	2	2	X
aiti-4139	347	69	)	)	PUNCT
aiti-4139	347	70	2	2	NUM
aiti-4139	347	71	(	(	PUNCT
aiti-4139	347	72	)	)	PUNCT
aiti-4139	347	73	(	(	PUNCT
aiti-4139	347	74	)	)	PUNCT
aiti-4139	347	75	2	2	NUM
aiti-4139	347	76	(	(	PUNCT
aiti-4139	347	77	)	)	PUNCT
aiti-4139	347	78	2	2	NUM
aiti-4139	347	79	(	(	PUNCT
aiti-4139	347	80	)	)	PUNCT
aiti-4139	347	81	2	2	NUM
aiti-4139	347	82	(	(	PUNCT
aiti-4139	347	83	)	)	PUNCT
aiti-4139	348	1	2	2	NUM
aiti-4139	348	2	t	t	NOUN
aiti-4139	348	3	l	l	NOUN
aiti-4139	348	4	l	l	NOUN
aiti-4139	349	1	t	t	NOUN
aiti-4139	349	2	t	t	PROPN
aiti-4139	349	3	t	t	PROPN
aiti-4139	349	4	t	t	PROPN
aiti-4139	349	5	t	t	PROPN
aiti-4139	349	6	tt	tt	PROPN
aiti-4139	349	7	l	l	PROPN
aiti-4139	349	8	l	l	PROPN
aiti-4139	349	9	v	v	ADP
aiti-4139	349	10	t	t	PROPN
aiti-4139	349	11	v	v	NOUN
aiti-4139	349	12	t	t	PROPN
aiti-4139	349	13	p	p	X
aiti-4139	349	14	f	f	PROPN
aiti-4139	349	15	v	v	ADP
aiti-4139	349	16	t	t	PROPN
aiti-4139	349	17	x	x	PROPN
aiti-4139	349	18	t	t	PROPN
aiti-4139	349	19	p	p	PROPN
aiti-4139	349	20	b	b	PROPN
aiti-4139	349	21	v	v	ADP
aiti-4139	349	22	t	t	NOUN
aiti-4139	349	23	f	f	PROPN
aiti-4139	350	1	d	d	PROPN
aiti-4139	350	2	d	d	PROPN
aiti-4139	350	3	p	p	PROPN
aiti-4139	350	4	b	b	PROPN
aiti-4139	350	5	v	v	ADP
aiti-4139	350	6	t	t	NOUN
aiti-4139	351	1	f	f	PROPN
aiti-4139	351	2	d	d	X
aiti-4139	351	3	d	d	X
aiti-4139	351	4	x	x	SYM
aiti-4139	351	5	t	t	PROPN
aiti-4139	351	6	v	v	NOUN
aiti-4139	351	7	t	t	X
aiti-4139	352	1	f	f	PROPN
aiti-4139	352	2	d	d	PROPN
aiti-4139	352	3	d	d	PROPN
aiti-4139	352	4	v	v	X
aiti-4139	352	5	t	t	X
aiti-4139	353	1	f	f	PROPN
aiti-4139	353	2	d	d	PROPN
aiti-4139	353	3	d	d	X
aiti-4139	353	4	pb	pb	AUX
aiti-4139	353	5	pbv	pbv	VERB
aiti-4139	353	6	t	t	PROPN
aiti-4139	353	7	x	x	PROPN
aiti-4139	353	8	t	t	NOUN
aiti-4139	353	9	pb	pb	X
aiti-4139	353	10	pb	pb	ADP
aiti-4139	353	11	v	v	ADP
aiti-4139	353	12	t	t	NOUN
aiti-4139	353	13	f	f	PROPN
aiti-4139	354	1	d	d	X
aiti-4139	354	2	d	d	X
aiti-4139	354	3	x	x	X
aiti-4139	354	4	t	t	NOUN
aiti-4139	354	5	pb	pb	ADP
aiti-4139	354	6	pb	pb	ADP
aiti-4139	354	7	v	v	ADP
aiti-4139	354	8	t	t	NOUN
aiti-4139	355	1	f	f	PROPN
aiti-4139	355	2	d	d	PROPN
aiti-4139	355	3	d	d	X
aiti-4139	355	4			X
aiti-4139	355	5			ADP
aiti-4139	355	6			PROPN
aiti-4139	355	7			PROPN
aiti-4139	355	8			NOUN
aiti-4139	355	9			PROPN
aiti-4139	355	10			NUM
aiti-4139	355	11			NUM
aiti-4139	355	12			PROPN
aiti-4139	355	13			PROPN
aiti-4139	355	14			PROPN
aiti-4139	355	15			PROPN
aiti-4139	355	16			PROPN
aiti-4139	355	17			ADV
aiti-4139	355	18			PUNCT
aiti-4139	355	19			X
aiti-4139	355	20			PUNCT
aiti-4139	356	1			PROPN
aiti-4139	357	1			PROPN
aiti-4139	357	2			PROPN
aiti-4139	357	3			NUM
aiti-4139	358	1			NUM
aiti-4139	358	2			PROPN
aiti-4139	358	3			PROPN
aiti-4139	358	4			PROPN
aiti-4139	359	1			PROPN
aiti-4139	359	2			ADV
aiti-4139	359	3			PUNCT
aiti-4139	359	4			PROPN
aiti-4139	359	5			NUM
aiti-4139	359	6			NOUN
aiti-4139	359	7			PROPN
aiti-4139	359	8			PROPN
aiti-4139	359	9			PROPN
aiti-4139	359	10			PROPN
aiti-4139	359	11			PROPN
aiti-4139	359	12			ADV
aiti-4139	359	13			PUNCT
aiti-4139	359	14			NOUN
aiti-4139	359	15			PROPN
aiti-4139	359	16			PROPN
aiti-4139	359	17			VERB
aiti-4139	359	18			PROPN
aiti-4139	359	19			VERB
aiti-4139	359	20	3	3	NUM
aiti-4139	359	21	(	(	PUNCT
aiti-4139	359	22	)	)	PUNCT
aiti-4139	359	23	t	t	PROPN
aiti-4139	359	24	x	x	SYM
aiti-4139	359	25	t	t	X
aiti-4139	359	26			PROPN
aiti-4139	359	27			PROPN
aiti-4139	359	28	(	(	PUNCT
aiti-4139	359	29	32	32	NUM
aiti-4139	359	30	)	)	PUNCT
aiti-4139	359	31	(	(	PUNCT
aiti-4139	359	32	,	,	PUNCT
aiti-4139	359	33	,	,	PUNCT
aiti-4139	359	34	)	)	PUNCT
aiti-4139	359	35	*	*	PUNCT
aiti-4139	360	1	*	*	PUNCT
aiti-4139	360	2	*	*	PUNCT
aiti-4139	360	3	t	t	NOUN
aiti-4139	360	4	t	t	PROPN
aiti-4139	360	5	t	t	PROPN
aiti-4139	360	6	t	t	PROPN
aiti-4139	360	7	t	t	PROPN
aiti-4139	360	8	k	k	PROPN
aiti-4139	360	9	k	k	PROPN
aiti-4139	360	10	t	t	PROPN
aiti-4139	360	11	t	t	PROPN
aiti-4139	360	12	t	t	PROPN
aiti-4139	361	1	f	f	PROPN
aiti-4139	361	2	f	f	PROPN
aiti-4139	362	1	t	t	PROPN
aiti-4139	363	1	f	f	PROPN
aiti-4139	363	2	f	f	PROPN
aiti-4139	364	1	a	a	DET
aiti-4139	364	2	p	p	X
aiti-4139	364	3	pa	pa	PROPN
aiti-4139	364	4	f	f	PROPN
aiti-4139	364	5	b	b	PROPN
aiti-4139	365	1	p	p	X
aiti-4139	365	2	f	f	PROPN
aiti-4139	365	3	b	b	PROPN
aiti-4139	365	4	p	p	X
aiti-4139	365	5	p	p	X
aiti-4139	365	6	k	k	PROPN
aiti-4139	365	7	f	f	PROPN
aiti-4139	366	1	a	a	DET
aiti-4139	366	2	p	p	X
aiti-4139	366	3	pa	pa	PROPN
aiti-4139	366	4	f	f	PROPN
aiti-4139	366	5	b	b	PROPN
aiti-4139	366	6	p	p	PROPN
aiti-4139	366	7	pbf	pbf	PROPN
aiti-4139	366	8	a	a	DET
aiti-4139	366	9	p	p	PROPN
aiti-4139	366	10	pa	pa	PROPN
aiti-4139	366	11			NOUN
aiti-4139	366	12			VERB
aiti-4139	366	13			PROPN
aiti-4139	366	14			PROPN
aiti-4139	366	15			PROPN
aiti-4139	367	1			PROPN
aiti-4139	368	1			PROPN
aiti-4139	368	2			NOUN
aiti-4139	368	3			PUNCT
aiti-4139	368	4			PROPN
aiti-4139	368	5			PROPN
aiti-4139	368	6			PROPN
aiti-4139	368	7			PROPN
aiti-4139	369	1			PROPN
aiti-4139	369	2			PROPN
aiti-4139	370	1			PROPN
aiti-4139	370	2			NOUN
aiti-4139	370	3	(	(	PUNCT
aiti-4139	370	4	33	33	NUM
aiti-4139	370	5	)	)	PUNCT
aiti-4139	370	6	one	one	NOUN
aiti-4139	370	7	can	can	AUX
aiti-4139	370	8	see	see	VERB
aiti-4139	370	9	that	that	SCONJ
aiti-4139	370	10	the	the	DET
aiti-4139	370	11	stability	stability	NOUN
aiti-4139	370	12	condition	condition	NOUN
aiti-4139	370	13	for	for	ADP
aiti-4139	370	14	the	the	DET
aiti-4139	370	15	closed	closed	ADJ
aiti-4139	370	16	-	-	PUNCT
aiti-4139	370	17	loop	loop	NOUN
aiti-4139	370	18	system	system	NOUN
aiti-4139	370	19	of	of	ADP
aiti-4139	370	20	(	(	PUNCT
aiti-4139	370	21	22	22	NUM
aiti-4139	370	22	)	)	PUNCT
aiti-4139	370	23	is	be	AUX
aiti-4139	370	24	reduced	reduce	VERB
aiti-4139	370	25	to	to	ADP
aiti-4139	370	26	(	(	PUNCT
aiti-4139	370	27	,	,	PUNCT
aiti-4139	370	28	)	)	PUNCT
aiti-4139	370	29	(	(	PUNCT
aiti-4139	370	30	)	)	PUNCT
aiti-4139	370	31	(	(	PUNCT
aiti-4139	370	32	,	,	PUNCT
aiti-4139	370	33	,	,	PUNCT
aiti-4139	370	34	)	)	PUNCT
aiti-4139	370	35	(	(	PUNCT
aiti-4139	370	36	,	,	PUNCT
aiti-4139	370	37	,	,	PUNCT
aiti-4139	370	38	(	(	PUNCT
aiti-4139	370	39	)	)	PUNCT
aiti-4139	370	40	)	)	PUNCT
aiti-4139	370	41	0td	0td	NOUN
aiti-4139	371	1	v	v	X
aiti-4139	371	2	x	x	SYM
aiti-4139	371	3	t	t	NOUN
aiti-4139	371	4	x	x	PROPN
aiti-4139	371	5	t	t	PROPN
aiti-4139	371	6	p	p	X
aiti-4139	372	1	k	k	PROPN
aiti-4139	372	2	f	f	PROPN
aiti-4139	373	1	p	p	X
aiti-4139	373	2	f	f	PROPN
aiti-4139	373	3	v	v	X
aiti-4139	373	4	t	t	X
aiti-4139	374	1	dt	dt	X
aiti-4139	374	2			PROPN
aiti-4139	374	3			PROPN
aiti-4139	374	4			ADV
aiti-4139	374	5			PROPN
aiti-4139	374	6	(	(	PUNCT
aiti-4139	374	7	34	34	NUM
aiti-4139	374	8	)	)	PUNCT
aiti-4139	374	9	namely	namely	ADV
aiti-4139	374	10	,	,	PUNCT
aiti-4139	374	11	if	if	SCONJ
aiti-4139	374	12	the	the	DET
aiti-4139	374	13	matrix	matrix	NOUN
aiti-4139	374	14	(	(	PUNCT
aiti-4139	374	15	,	,	PUNCT
aiti-4139	374	16	,	,	PUNCT
aiti-4139	374	17	)	)	PUNCT
aiti-4139	374	18	p	p	NOUN
aiti-4139	374	19	k	k	PROPN
aiti-4139	374	20	f	f	PROPN
aiti-4139	374	21	is	be	AUX
aiti-4139	374	22	negative	negative	ADJ
aiti-4139	374	23	definite	definite	ADJ
aiti-4139	374	24	and	and	CCONJ
aiti-4139	374	25	(	(	PUNCT
aiti-4139	374	26	,	,	PUNCT
aiti-4139	374	27	,	,	PUNCT
aiti-4139	374	28	(	(	PUNCT
aiti-4139	374	29	)	)	PUNCT
aiti-4139	374	30	)	)	PUNCT
aiti-4139	375	1	p	p	NOUN
aiti-4139	375	2	f	f	X
aiti-4139	375	3	v	v	X
aiti-4139	375	4	t	t	NOUN
aiti-4139	375	5	<	<	X
aiti-4139	375	6	0	0	NUM
aiti-4139	375	7	are	be	AUX
aiti-4139	375	8	satisfied	satisfied	ADJ
aiti-4139	375	9	,	,	PUNCT
aiti-4139	375	10	then	then	ADV
aiti-4139	375	11	the	the	DET
aiti-4139	375	12	quadratic	quadratic	ADJ
aiti-4139	375	13	function	function	NOUN
aiti-4139	375	14	(	(	PUNCT
aiti-4139	375	15	,	,	PUNCT
aiti-4139	375	16	)	)	PUNCT
aiti-4139	375	17	v	v	NOUN
aiti-4139	375	18	x	x	SYM
aiti-4139	375	19	t	t	NOUN
aiti-4139	375	20	becomes	become	VERB
aiti-4139	375	21	a	a	DET
aiti-4139	375	22	lyapunov	lyapunov	ADJ
aiti-4139	375	23	function	function	NOUN
aiti-4139	375	24	.	.	PUNCT
aiti-4139	376	1	for	for	ADP
aiti-4139	376	2	leader	leader	NOUN
aiti-4139	376	3	agent	agent	NOUN
aiti-4139	376	4	,	,	PUNCT
aiti-4139	376	5	there	there	PRON
aiti-4139	376	6	is	be	VERB
aiti-4139	376	7	no	no	DET
aiti-4139	376	8	need	need	NOUN
aiti-4139	376	9	the	the	DET
aiti-4139	376	10	compensation	compensation	NOUN
aiti-4139	376	11	input	input	NOUN
aiti-4139	376	12	,	,	PUNCT
aiti-4139	376	13	i.e.	i.e.	X
aiti-4139	376	14	(	(	PUNCT
aiti-4139	376	15	)	)	PUNCT
aiti-4139	376	16	0lv	0lv	NOUN
aiti-4139	377	1	t	t	PROPN
aiti-4139	377	2			NUM
aiti-4139	377	3	then	then	ADV
aiti-4139	377	4	we	we	PRON
aiti-4139	377	5	have	have	VERB
aiti-4139	377	6			PROPN
aiti-4139	377	7			PROPN
aiti-4139	377	8			NOUN
aiti-4139	377	9			NOUN
aiti-4139	377	10			PROPN
aiti-4139	377	11	2	2	NUM
aiti-4139	377	12	2	2	NUM
aiti-4139	377	13	2	2	NUM
aiti-4139	377	14	3	3	NUM
aiti-4139	377	15	2	2	NUM
aiti-4139	377	16	2	2	NUM
aiti-4139	377	17	2	2	NUM
aiti-4139	377	18	2	2	NUM
aiti-4139	377	19	2	2	NUM
aiti-4139	377	20	3	3	NUM
aiti-4139	377	21	2	2	NUM
aiti-4139	377	22	3	3	NUM
aiti-4139	377	23	3	3	NUM
aiti-4139	377	24	2	2	NUM
aiti-4139	377	25	3	3	NUM
aiti-4139	377	26	3	3	NUM
aiti-4139	377	27	3	3	NUM
aiti-4139	377	28	3	3	NUM
aiti-4139	377	29	2	2	NUM
aiti-4139	377	30	3	3	NUM
aiti-4139	377	31	3	3	NUM
aiti-4139	377	32	3	3	NUM
aiti-4139	377	33	(	(	PUNCT
aiti-4139	377	34	)	)	PUNCT
aiti-4139	377	35	(	(	PUNCT
aiti-4139	377	36	)	)	PUNCT
aiti-4139	377	37	0	0	NUM
aiti-4139	378	1	(	(	PUNCT
aiti-4139	378	2	)	)	PUNCT
aiti-4139	378	3	(	(	PUNCT
aiti-4139	378	4	)	)	PUNCT
aiti-4139	378	5	(	(	PUNCT
aiti-4139	378	6	2	2	X
aiti-4139	378	7	)	)	PUNCT
aiti-4139	378	8	(	(	PUNCT
aiti-4139	378	9	)	)	PUNCT
aiti-4139	378	10	(	(	PUNCT
aiti-4139	378	11	)	)	PUNCT
aiti-4139	378	12	(	(	PUNCT
aiti-4139	378	13	)	)	PUNCT
aiti-4139	378	14	2	2	NUM
aiti-4139	378	15	(	(	PUNCT
aiti-4139	378	16	)	)	PUNCT
aiti-4139	378	17	(	(	PUNCT
aiti-4139	378	18	)	)	PUNCT
aiti-4139	378	19	(	(	PUNCT
aiti-4139	378	20	)	)	PUNCT
aiti-4139	378	21	(	(	PUNCT
aiti-4139	378	22	)	)	PUNCT
aiti-4139	378	23	2	2	NUM
aiti-4139	378	24	(	(	PUNCT
aiti-4139	378	25	)	)	PUNCT
aiti-4139	378	26	(	(	PUNCT
aiti-4139	378	27	)	)	PUNCT
aiti-4139	378	28	(	(	PUNCT
aiti-4139	378	29	)	)	PUNCT
aiti-4139	378	30	(	(	PUNCT
aiti-4139	378	31	)	)	PUNCT
aiti-4139	378	32	2	2	NUM
aiti-4139	378	33	(	(	PUNCT
aiti-4139	378	34	)	)	PUNCT
aiti-4139	379	1	l	l	NOUN
aiti-4139	379	2	l	l	NOUN
aiti-4139	379	3	t	t	NOUN
aiti-4139	379	4	t	t	PROPN
aiti-4139	379	5	t	t	PROPN
aiti-4139	379	6	t	t	PROPN
aiti-4139	379	7	t	t	PROPN
aiti-4139	379	8	t	t	PROPN
aiti-4139	379	9	t	t	PROPN
aiti-4139	379	10	t	t	PROPN
aiti-4139	379	11	t	t	PROPN
aiti-4139	379	12	t	t	PROPN
aiti-4139	379	13	t	t	PROPN
aiti-4139	379	14	t	t	PROPN
aiti-4139	379	15	t	t	PROPN
aiti-4139	379	16	t	t	PROPN
aiti-4139	379	17	t	t	PROPN
aiti-4139	379	18	pbv	pbv	VERB
aiti-4139	379	19	t	t	PROPN
aiti-4139	379	20	t	t	NOUN
aiti-4139	379	21	pb	pb	ADP
aiti-4139	379	22	v	v	ADP
aiti-4139	379	23	t	t	PROPN
aiti-4139	380	1	f	f	PROPN
aiti-4139	380	2	d	d	X
aiti-4139	380	3	d	d	X
aiti-4139	380	4	x	x	SYM
aiti-4139	380	5	t	t	PROPN
aiti-4139	380	6	v	v	NUM
aiti-4139	380	7	t	t	PROPN
aiti-4139	380	8	b	b	PROPN
aiti-4139	380	9	px	px	PROPN
aiti-4139	381	1	t	t	PROPN
aiti-4139	381	2	d	d	X
aiti-4139	381	3	f	f	PROPN
aiti-4139	381	4	b	b	PROPN
aiti-4139	381	5	px	px	PROPN
aiti-4139	382	1	t	t	PROPN
aiti-4139	382	2	d	d	X
aiti-4139	382	3	f	f	PROPN
aiti-4139	382	4	b	b	PROPN
aiti-4139	382	5	px	px	PROPN
aiti-4139	382	6	t	t	PROPN
aiti-4139	382	7	t	t	PROPN
aiti-4139	382	8	pb	pb	ADP
aiti-4139	382	9	v	v	ADP
aiti-4139	382	10	t	t	PROPN
aiti-4139	382	11	f	f	PROPN
aiti-4139	383	1	d	d	X
aiti-4139	383	2	d	d	X
aiti-4139	383	3	x	x	SYM
aiti-4139	383	4	t	t	PROPN
aiti-4139	383	5	v	v	NUM
aiti-4139	383	6	t	t	PROPN
aiti-4139	383	7	b	b	PROPN
aiti-4139	383	8	px	px	PROPN
aiti-4139	384	1	t	t	PROPN
aiti-4139	384	2	d	d	X
aiti-4139	384	3	f	f	PROPN
aiti-4139	384	4	b	b	PROPN
aiti-4139	384	5	px	px	PROPN
aiti-4139	385	1	t	t	PROPN
aiti-4139	385	2	d	d	X
aiti-4139	385	3	f	f	PROPN
aiti-4139	385	4	b	b	PROPN
aiti-4139	385	5	px	px	PROPN
aiti-4139	385	6	t	t	PROPN
aiti-4139	385	7			X
aiti-4139	386	1			X
aiti-4139	387	1			X
aiti-4139	388	1			NUM
aiti-4139	389	1			NOUN
aiti-4139	390	1			PROPN
aiti-4139	391	1			PROPN
aiti-4139	391	2			ADV
aiti-4139	391	3			PROPN
aiti-4139	391	4			PROPN
aiti-4139	391	5			ADJ
aiti-4139	391	6			NOUN
aiti-4139	391	7			PROPN
aiti-4139	391	8			PROPN
aiti-4139	391	9			PROPN
aiti-4139	391	10			ADV
aiti-4139	391	11			PROPN
aiti-4139	391	12			VERB
aiti-4139	391	13			NUM
aiti-4139	391	14			PROPN
aiti-4139	391	15			PROPN
aiti-4139	391	16			PROPN
aiti-4139	391	17	(	(	PUNCT
aiti-4139	391	18	35	35	NUM
aiti-4139	391	19	)	)	PUNCT
aiti-4139	392	1	where	where	SCONJ
aiti-4139	392	2	(	(	PUNCT
aiti-4139	392	3	)	)	PUNCT
aiti-4139	392	4	i	i	PRON
aiti-4139	392	5	t	t	X
aiti-4139	393	1	(	(	PUNCT
aiti-4139	393	2	,	,	PUNCT
aiti-4139	393	3	2,3)i	2,3)i	NUM
aiti-4139	393	4	l	l	NOUN
aiti-4139	393	5	is	be	AUX
aiti-4139	393	6	the	the	DET
aiti-4139	393	7	i	i	NOUN
aiti-4139	393	8	-th	-th	ADJ
aiti-4139	393	9	term	term	NOUN
aiti-4139	393	10	in	in	ADP
aiti-4139	393	11	the	the	DET
aiti-4139	393	12	right	right	ADJ
aiti-4139	393	13	-	-	PUNCT
aiti-4139	393	14	hand	hand	NOUN
aiti-4139	393	15	side	side	NOUN
aiti-4139	393	16	of	of	ADP
aiti-4139	393	17	(	(	PUNCT
aiti-4139	393	18	32	32	NUM
aiti-4139	393	19	)	)	PUNCT
aiti-4139	393	20	.	.	PUNCT
aiti-4139	394	1	since	since	SCONJ
aiti-4139	394	2	(	(	PUNCT
aiti-4139	394	3	)	)	PUNCT
aiti-4139	394	4	0lv	0lv	NOUN
aiti-4139	395	1	t	t	PROPN
aiti-4139	395	2			NUM
aiti-4139	395	3	,	,	PUNCT
aiti-4139	395	4	we	we	PRON
aiti-4139	395	5	consider	consider	VERB
aiti-4139	395	6	the	the	DET
aiti-4139	395	7	design	design	NOUN
aiti-4139	395	8	problem	problem	NOUN
aiti-4139	395	9	of	of	ADP
aiti-4139	395	10	2	2	NUM
aiti-4139	395	11	(	(	PUNCT
aiti-4139	395	12	)	)	PUNCT
aiti-4139	395	13	v	v	NOUN
aiti-4139	395	14	t	t	NOUN
aiti-4139	395	15	and	and	CCONJ
aiti-4139	395	16	3	3	NUM
aiti-4139	395	17	(	(	PUNCT
aiti-4139	395	18	)	)	PUNCT
aiti-4139	395	19	v	v	NOUN
aiti-4139	395	20	t	t	PROPN
aiti-4139	395	21	.	.	PUNCT
aiti-4139	396	1	let	let	VERB
aiti-4139	396	2	3	3	NUM
aiti-4139	396	3	(	(	PUNCT
aiti-4139	396	4	)	)	PUNCT
aiti-4139	396	5	t	t	PRON
aiti-4139	396	6	be	be	AUX
aiti-4139	396	7	an	an	DET
aiti-4139	396	8	auxiliary	auxiliary	ADJ
aiti-4139	396	9	input	input	NOUN
aiti-4139	396	10	for	for	ADP
aiti-4139	396	11	reducing	reduce	VERB
aiti-4139	396	12	the	the	DET
aiti-4139	396	13	effect	effect	NOUN
aiti-4139	396	14	of	of	ADP
aiti-4139	396	15	3d	3d	NUM
aiti-4139	396	16	.	.	PUNCT
aiti-4139	397	1	in	in	ADP
aiti-4139	397	2	this	this	DET
aiti-4139	397	3	paper	paper	NOUN
aiti-4139	397	4	,	,	PUNCT
aiti-4139	397	5	3d	3d	PROPN
aiti-4139	397	6	means	mean	VERB
aiti-4139	397	7	the	the	DET
aiti-4139	397	8	relative	relative	ADJ
aiti-4139	397	9	position	position	NOUN
aiti-4139	397	10	advances	advance	NOUN
aiti-4139	397	11	technology	technology	NOUN
aiti-4139	397	12	innovation	innovation	NOUN
aiti-4139	397	13	,	,	PUNCT
aiti-4139	397	14	vol	vol	NOUN
aiti-4139	397	15	.	.	PROPN
aiti-4139	397	16	4	4	NUM
aiti-4139	397	17	,	,	PUNCT
aiti-4139	397	18	no	no	INTJ
aiti-4139	397	19	.	.	NOUN
aiti-4139	397	20	4	4	NUM
aiti-4139	397	21	,	,	PUNCT
aiti-4139	397	22	2019	2019	NUM
aiti-4139	397	23	,	,	PUNCT
aiti-4139	397	24	pp	pp	ADJ
aiti-4139	397	25	.	.	PUNCT
aiti-4139	398	1	234	234	NUM
aiti-4139	398	2	-	-	SYM
aiti-4139	398	3	246	246	NUM
aiti-4139	398	4	241	241	NUM
aiti-4139	398	5	between	between	ADP
aiti-4139	398	6	the	the	DET
aiti-4139	398	7	leader	leader	NOUN
aiti-4139	398	8	and	and	CCONJ
aiti-4139	398	9	the	the	DET
aiti-4139	398	10	follower	follower	NOUN
aiti-4139	398	11	3	3	NUM
aiti-4139	398	12	,	,	PUNCT
aiti-4139	398	13	and	and	CCONJ
aiti-4139	398	14	it	it	PRON
aiti-4139	398	15	is	be	AUX
aiti-4139	398	16	unknown	unknown	ADJ
aiti-4139	398	17	to	to	ADP
aiti-4139	398	18	the	the	DET
aiti-4139	398	19	follower	follower	NOUN
aiti-4139	398	20	2	2	NUM
aiti-4139	398	21	.	.	PUNCT
aiti-4139	399	1	the	the	DET
aiti-4139	399	2	follower	follower	NOUN
aiti-4139	399	3	2	2	NUM
aiti-4139	399	4	can	can	AUX
aiti-4139	399	5	obtain	obtain	VERB
aiti-4139	399	6	the	the	DET
aiti-4139	399	7	information	information	NOUN
aiti-4139	399	8	for	for	ADP
aiti-4139	399	9	the	the	DET
aiti-4139	399	10	upper	upper	ADJ
aiti-4139	399	11	bound	bind	VERB
aiti-4139	399	12	3	3	NUM
aiti-4139	399	13	dm	dm	NOUN
aiti-4139	399	14	for	for	ADP
aiti-4139	399	15	the	the	DET
aiti-4139	399	16	relative	relative	ADJ
aiti-4139	399	17	position	position	NOUN
aiti-4139	399	18	,	,	PUNCT
aiti-4139	399	19	i.e.	i.e.	X
aiti-4139	399	20	3	3	NUM
aiti-4139	399	21	dm	dm	NOUN
aiti-4139	399	22	satisfies	satisfie	NOUN
aiti-4139	399	23	3	3	NUM
aiti-4139	399	24	3d	3d	NUM
aiti-4139	399	25	dm	dm	NOUN
aiti-4139	399	26	.	.	PUNCT
aiti-4139	400	1	therefore	therefore	ADV
aiti-4139	400	2	,	,	PUNCT
aiti-4139	400	3	we	we	PRON
aiti-4139	400	4	consider	consider	VERB
aiti-4139	400	5	2	2	NUM
aiti-4139	400	6	2	2	NUM
aiti-4139	400	7	3	3	NUM
aiti-4139	400	8	(	(	PUNCT
aiti-4139	400	9	)	)	PUNCT
aiti-4139	400	10	2	2	NUM
aiti-4139	400	11	(	(	PUNCT
aiti-4139	400	12	)	)	PUNCT
aiti-4139	400	13	v	v	NOUN
aiti-4139	400	14	t	t	PROPN
aiti-4139	400	15	fd	fd	PROPN
aiti-4139	400	16	t	t	PROPN
aiti-4139	400	17			PROPN
aiti-4139	400	18			X
aiti-4139	400	19	(	(	PUNCT
aiti-4139	400	20	36	36	NUM
aiti-4139	400	21	)	)	PUNCT
aiti-4139	400	22	and	and	CCONJ
aiti-4139	400	23	one	one	PRON
aiti-4139	400	24	can	can	AUX
aiti-4139	400	25	see	see	VERB
aiti-4139	400	26	that	that	PRON
aiti-4139	400	27	for	for	ADP
aiti-4139	400	28	the	the	DET
aiti-4139	400	29	third	third	ADJ
aiti-4139	400	30	term	term	NOUN
aiti-4139	400	31	in	in	ADP
aiti-4139	400	32	the	the	DET
aiti-4139	400	33	right	right	ADJ
aiti-4139	400	34	-	-	PUNCT
aiti-4139	400	35	hand	hand	NOUN
aiti-4139	400	36	side	side	NOUN
aiti-4139	400	37	of	of	ADP
aiti-4139	400	38	2	2	NUM
aiti-4139	400	39	(	(	PUNCT
aiti-4139	400	40	)	)	PUNCT
aiti-4139	400	41	t	t	NOUN
aiti-4139	400	42	in	in	ADP
aiti-4139	400	43	(	(	PUNCT
aiti-4139	400	44	35	35	NUM
aiti-4139	400	45	)	)	PUNCT
aiti-4139	400	46	the	the	DET
aiti-4139	400	47	following	follow	VERB
aiti-4139	400	48	inequality	inequality	NOUN
aiti-4139	400	49	holds	hold	VERB
aiti-4139	400	50	:	:	PUNCT
aiti-4139	400	51	3	3	NUM
aiti-4139	400	52	2	2	NUM
aiti-4139	400	53	3	3	NUM
aiti-4139	400	54	2	2	NUM
aiti-4139	400	55	3	3	NUM
aiti-4139	400	56	2	2	NUM
aiti-4139	400	57	(	(	PUNCT
aiti-4139	400	58	)	)	PUNCT
aiti-4139	400	59	(	(	PUNCT
aiti-4139	400	60	)	)	PUNCT
aiti-4139	400	61	(	(	PUNCT
aiti-4139	400	62	)	)	PUNCT
aiti-4139	400	63	t	t	NOUN
aiti-4139	400	64	t	t	PROPN
aiti-4139	400	65	t	t	PROPN
aiti-4139	400	66	t	t	PROPN
aiti-4139	400	67	t	t	PROPN
aiti-4139	400	68	t	t	PROPN
aiti-4139	401	1	d	d	X
aiti-4139	401	2	f	f	PROPN
aiti-4139	401	3	b	b	PROPN
aiti-4139	401	4	px	px	PROPN
aiti-4139	402	1	t	t	PROPN
aiti-4139	402	2	d	d	X
aiti-4139	402	3	f	f	PROPN
aiti-4139	402	4	b	b	PROPN
aiti-4139	402	5	px	px	PROPN
aiti-4139	402	6	t	t	X
aiti-4139	402	7	dm	dm	INTJ
aiti-4139	402	8	f	f	PROPN
aiti-4139	402	9	b	b	PROPN
aiti-4139	402	10	px	px	PROPN
aiti-4139	402	11	t	t	PROPN
aiti-4139	402	12			PROPN
aiti-4139	402	13			NOUN
aiti-4139	402	14			NOUN
aiti-4139	402	15			NOUN
aiti-4139	402	16	(	(	PUNCT
aiti-4139	402	17	37	37	NUM
aiti-4139	402	18	)	)	PUNCT
aiti-4139	402	19	thus	thus	ADV
aiti-4139	402	20	,	,	PUNCT
aiti-4139	402	21	by	by	ADP
aiti-4139	402	22	selecting	select	VERB
aiti-4139	402	23	3	3	NUM
aiti-4139	402	24	(	(	PUNCT
aiti-4139	402	25	)	)	PUNCT
aiti-4139	402	26	t	t	PRON
aiti-4139	402	27	defined	define	VERB
aiti-4139	402	28	as	as	ADP
aiti-4139	402	29	2	2	NUM
aiti-4139	402	30	3	3	NUM
aiti-4139	402	31	3	3	NUM
aiti-4139	402	32	22	22	NUM
aiti-4139	402	33	2	2	NUM
aiti-4139	402	34	(	(	PUNCT
aiti-4139	402	35	)	)	PUNCT
aiti-4139	402	36	(	(	PUNCT
aiti-4139	402	37	)	)	PUNCT
aiti-4139	402	38	(	(	PUNCT
aiti-4139	402	39	)	)	PUNCT
aiti-4139	402	40	(	(	PUNCT
aiti-4139	402	41	)	)	PUNCT
aiti-4139	402	42	t	t	NOUN
aiti-4139	402	43	t	t	PROPN
aiti-4139	402	44	t	t	PROPN
aiti-4139	402	45	t	t	PROPN
aiti-4139	402	46	f	f	PROPN
aiti-4139	402	47	b	b	PROPN
aiti-4139	402	48	px	px	PROPN
aiti-4139	402	49	t	t	PROPN
aiti-4139	402	50	t	t	PROPN
aiti-4139	402	51	dm	dm	PROPN
aiti-4139	402	52	b	b	PROPN
aiti-4139	402	53	px	px	PROPN
aiti-4139	402	54	t	t	PROPN
aiti-4139	402	55	b	b	PROPN
aiti-4139	402	56	px	px	PROPN
aiti-4139	402	57	t	t	PROPN
aiti-4139	402	58			VERB
aiti-4139	402	59			PROPN
aiti-4139	402	60			NOUN
aiti-4139	402	61	(	(	PUNCT
aiti-4139	402	62	38	38	NUM
aiti-4139	402	63	)	)	PUNCT
aiti-4139	402	64	we	we	PRON
aiti-4139	402	65	can	can	AUX
aiti-4139	402	66	obtain	obtain	VERB
aiti-4139	402	67	2	2	NUM
aiti-4139	402	68	2	2	NUM
aiti-4139	402	69	2	2	NUM
aiti-4139	402	70	2	2	NUM
aiti-4139	402	71	3	3	NUM
aiti-4139	402	72	2	2	NUM
aiti-4139	402	73	2	2	NUM
aiti-4139	402	74	2	2	NUM
aiti-4139	402	75	2	2	NUM
aiti-4139	402	76	3	3	NUM
aiti-4139	402	77	22	22	NUM
aiti-4139	402	78	2	2	NUM
aiti-4139	402	79	(	(	PUNCT
aiti-4139	402	80	)	)	PUNCT
aiti-4139	402	81	(	(	PUNCT
aiti-4139	402	82	)	)	PUNCT
aiti-4139	402	83	2	2	NUM
aiti-4139	402	84	(	(	PUNCT
aiti-4139	402	85	)	)	PUNCT
aiti-4139	402	86	(	(	PUNCT
aiti-4139	402	87	)	)	PUNCT
aiti-4139	402	88	(	(	PUNCT
aiti-4139	402	89	)	)	PUNCT
aiti-4139	402	90	2	2	NUM
aiti-4139	402	91	(	(	PUNCT
aiti-4139	402	92	)	)	PUNCT
aiti-4139	402	93	(	(	PUNCT
aiti-4139	402	94	)	)	PUNCT
aiti-4139	402	95	(	(	PUNCT
aiti-4139	402	96	)	)	PUNCT
aiti-4139	402	97	0	0	NUM
aiti-4139	403	1	t	t	NOUN
aiti-4139	403	2	t	t	PROPN
aiti-4139	403	3	t	t	PROPN
aiti-4139	403	4	t	t	PROPN
aiti-4139	403	5	t	t	PROPN
aiti-4139	403	6	t	t	PROPN
aiti-4139	403	7	t	t	PROPN
aiti-4139	403	8	t	t	PROPN
aiti-4139	403	9	t	t	PROPN
aiti-4139	403	10	t	t	PROPN
aiti-4139	403	11	f	f	PROPN
aiti-4139	403	12	b	b	PROPN
aiti-4139	403	13	px	px	PROPN
aiti-4139	403	14	t	t	PROPN
aiti-4139	403	15	t	t	PROPN
aiti-4139	404	1	d	d	X
aiti-4139	404	2	f	f	PROPN
aiti-4139	404	3	b	b	PROPN
aiti-4139	404	4	px	px	PROPN
aiti-4139	405	1	t	t	X
aiti-4139	405	2	dm	dm	INTJ
aiti-4139	405	3	x	x	SYM
aiti-4139	405	4	t	t	PROPN
aiti-4139	405	5	pb	pb	X
aiti-4139	405	6	b	b	PROPN
aiti-4139	406	1	px	px	PROPN
aiti-4139	406	2	t	t	PROPN
aiti-4139	407	1	d	d	X
aiti-4139	407	2	f	f	PROPN
aiti-4139	407	3	b	b	PROPN
aiti-4139	407	4	px	px	PROPN
aiti-4139	407	5	t	t	X
aiti-4139	407	6	dm	dm	INTJ
aiti-4139	408	1	f	f	PROPN
aiti-4139	408	2	b	b	PROPN
aiti-4139	408	3	px	px	PROPN
aiti-4139	408	4	t	t	PROPN
aiti-4139	408	5	b	b	PROPN
aiti-4139	408	6	px	px	PROPN
aiti-4139	408	7	t	t	PROPN
aiti-4139	409	1			PROPN
aiti-4139	409	2			NOUN
aiti-4139	409	3			PROPN
aiti-4139	409	4			PROPN
aiti-4139	409	5			PROPN
aiti-4139	409	6			PROPN
aiti-4139	409	7			PROPN
aiti-4139	409	8			VERB
aiti-4139	409	9			PROPN
aiti-4139	409	10			ADV
aiti-4139	409	11			PROPN
aiti-4139	409	12			PROPN
aiti-4139	410	1			PROPN
aiti-4139	410	2			PROPN
aiti-4139	411	1			PROPN
aiti-4139	411	2			PROPN
aiti-4139	411	3			NOUN
aiti-4139	411	4	(	(	PUNCT
aiti-4139	411	5	39	39	NUM
aiti-4139	411	6	)	)	PUNCT
aiti-4139	411	7	similarly	similarly	ADV
aiti-4139	411	8	,	,	PUNCT
aiti-4139	411	9	we	we	PRON
aiti-4139	411	10	consider	consider	VERB
aiti-4139	411	11	the	the	DET
aiti-4139	411	12	following	follow	VERB
aiti-4139	411	13	compensation	compensation	NOUN
aiti-4139	411	14	input	input	NOUN
aiti-4139	411	15	for	for	ADP
aiti-4139	411	16	follower	follower	NOUN
aiti-4139	411	17	3	3	NUM
aiti-4139	411	18	:	:	SYM
aiti-4139	411	19	3	3	NUM
aiti-4139	411	20	3	3	NUM
aiti-4139	411	21	2	2	NUM
aiti-4139	411	22	(	(	PUNCT
aiti-4139	411	23	)	)	PUNCT
aiti-4139	411	24	2	2	NUM
aiti-4139	411	25	(	(	PUNCT
aiti-4139	411	26	)	)	PUNCT
aiti-4139	411	27	v	v	NOUN
aiti-4139	411	28	t	t	PROPN
aiti-4139	411	29	fd	fd	PROPN
aiti-4139	411	30	t	t	PROPN
aiti-4139	411	31			PROPN
aiti-4139	411	32			PUNCT
aiti-4139	411	33	(	(	PUNCT
aiti-4139	411	34	40	40	NUM
aiti-4139	411	35	)	)	PUNCT
aiti-4139	411	36	for	for	ADP
aiti-4139	411	37	the	the	DET
aiti-4139	411	38	third	third	ADJ
aiti-4139	411	39	term	term	NOUN
aiti-4139	411	40	in	in	ADP
aiti-4139	411	41	the	the	DET
aiti-4139	411	42	right	right	ADJ
aiti-4139	411	43	-	-	PUNCT
aiti-4139	411	44	hand	hand	NOUN
aiti-4139	411	45	side	side	NOUN
aiti-4139	411	46	of	of	ADP
aiti-4139	411	47	3	3	NUM
aiti-4139	411	48	(	(	PUNCT
aiti-4139	411	49	)	)	PUNCT
aiti-4139	411	50	t	t	NOUN
aiti-4139	411	51	in	in	ADP
aiti-4139	411	52	(	(	PUNCT
aiti-4139	411	53	35	35	NUM
aiti-4139	411	54	)	)	PUNCT
aiti-4139	411	55	,	,	PUNCT
aiti-4139	411	56	we	we	PRON
aiti-4139	411	57	find	find	VERB
aiti-4139	411	58	that	that	SCONJ
aiti-4139	411	59	the	the	DET
aiti-4139	411	60	inequality	inequality	NOUN
aiti-4139	411	61	2	2	NUM
aiti-4139	411	62	3	3	NUM
aiti-4139	411	63	2	2	NUM
aiti-4139	411	64	3	3	NUM
aiti-4139	411	65	2	2	NUM
aiti-4139	411	66	3	3	NUM
aiti-4139	411	67	(	(	PUNCT
aiti-4139	411	68	)	)	PUNCT
aiti-4139	411	69	(	(	PUNCT
aiti-4139	411	70	)	)	PUNCT
aiti-4139	411	71	(	(	PUNCT
aiti-4139	411	72	)	)	PUNCT
aiti-4139	411	73	t	t	NOUN
aiti-4139	411	74	t	t	PROPN
aiti-4139	411	75	t	t	PROPN
aiti-4139	411	76	t	t	PROPN
aiti-4139	411	77	t	t	PROPN
aiti-4139	411	78	t	t	PROPN
aiti-4139	412	1	d	d	X
aiti-4139	412	2	f	f	PROPN
aiti-4139	412	3	b	b	PROPN
aiti-4139	412	4	px	px	PROPN
aiti-4139	413	1	t	t	PROPN
aiti-4139	413	2	d	d	X
aiti-4139	413	3	f	f	PROPN
aiti-4139	413	4	b	b	PROPN
aiti-4139	413	5	px	px	PROPN
aiti-4139	413	6	t	t	X
aiti-4139	413	7	dm	dm	INTJ
aiti-4139	413	8	f	f	PROPN
aiti-4139	413	9	b	b	PROPN
aiti-4139	413	10	px	px	PROPN
aiti-4139	413	11	t	t	PROPN
aiti-4139	413	12			PROPN
aiti-4139	413	13			NOUN
aiti-4139	413	14			NOUN
aiti-4139	413	15			NOUN
aiti-4139	413	16	(	(	PUNCT
aiti-4139	413	17	41	41	NUM
aiti-4139	413	18	)	)	PUNCT
aiti-4139	413	19	is	be	AUX
aiti-4139	413	20	satisfied	satisfied	ADJ
aiti-4139	413	21	,	,	PUNCT
aiti-4139	413	22	and	and	CCONJ
aiti-4139	413	23	thus	thus	ADV
aiti-4139	413	24	2	2	NUM
aiti-4139	413	25	(	(	PUNCT
aiti-4139	413	26	)	)	PUNCT
aiti-4139	413	27	t	t	X
aiti-4139	413	28	is	be	AUX
aiti-4139	413	29	designed	design	VERB
aiti-4139	413	30	as	as	ADP
aiti-4139	413	31	3	3	NUM
aiti-4139	413	32	2	2	NUM
aiti-4139	413	33	2	2	NUM
aiti-4139	413	34	32	32	NUM
aiti-4139	413	35	3	3	NUM
aiti-4139	413	36	(	(	PUNCT
aiti-4139	413	37	)	)	PUNCT
aiti-4139	413	38	(	(	PUNCT
aiti-4139	413	39	)	)	PUNCT
aiti-4139	413	40	(	(	PUNCT
aiti-4139	413	41	)	)	PUNCT
aiti-4139	413	42	(	(	PUNCT
aiti-4139	413	43	)	)	PUNCT
aiti-4139	413	44	t	t	NOUN
aiti-4139	413	45	t	t	PROPN
aiti-4139	413	46	t	t	PROPN
aiti-4139	413	47	t	t	PROPN
aiti-4139	413	48	f	f	PROPN
aiti-4139	413	49	b	b	PROPN
aiti-4139	413	50	px	px	PROPN
aiti-4139	413	51	t	t	PROPN
aiti-4139	413	52	t	t	PROPN
aiti-4139	413	53	dm	dm	PROPN
aiti-4139	413	54	b	b	PROPN
aiti-4139	413	55	px	px	PROPN
aiti-4139	413	56	t	t	PROPN
aiti-4139	413	57	b	b	PROPN
aiti-4139	413	58	px	px	PROPN
aiti-4139	413	59	t	t	PROPN
aiti-4139	413	60			VERB
aiti-4139	413	61			PROPN
aiti-4139	413	62			NOUN
aiti-4139	413	63	(	(	PUNCT
aiti-4139	413	64	42	42	NUM
aiti-4139	413	65	)	)	PUNCT
aiti-4139	413	66	then	then	ADV
aiti-4139	413	67	we	we	PRON
aiti-4139	413	68	can	can	AUX
aiti-4139	413	69	obtain	obtain	VERB
aiti-4139	413	70	the	the	DET
aiti-4139	413	71	following	follow	VERB
aiti-4139	413	72	inequality	inequality	NOUN
aiti-4139	413	73	:	:	PUNCT
aiti-4139	414	1	3	3	NUM
aiti-4139	414	2	(	(	PUNCT
aiti-4139	414	3	)	)	PUNCT
aiti-4139	414	4	0t	0t	NUM
aiti-4139	414	5			NOUN
aiti-4139	414	6	(	(	PUNCT
aiti-4139	414	7	43	43	NUM
aiti-4139	414	8	)	)	PUNCT
aiti-4139	414	9	consequently	consequently	ADV
aiti-4139	414	10	,	,	PUNCT
aiti-4139	414	11	if	if	SCONJ
aiti-4139	414	12	(	(	PUNCT
aiti-4139	414	13	)	)	PUNCT
aiti-4139	414	14	v	v	NOUN
aiti-4139	414	15	t	t	PROPN
aiti-4139	414	16	is	be	AUX
aiti-4139	414	17	designed	design	VERB
aiti-4139	414	18	as	as	ADP
aiti-4139	414	19	2	2	NUM
aiti-4139	414	20	2	2	NUM
aiti-4139	414	21	2	2	NUM
aiti-4139	414	22	3	3	NUM
aiti-4139	414	23	22	22	NUM
aiti-4139	414	24	23	23	NUM
aiti-4139	414	25	3	3	NUM
aiti-4139	414	26	3	3	NUM
aiti-4139	414	27	2	2	NUM
aiti-4139	414	28	32	32	NUM
aiti-4139	414	29	3	3	NUM
aiti-4139	414	30	0	0	NUM
aiti-4139	414	31	(	(	PUNCT
aiti-4139	414	32	)	)	PUNCT
aiti-4139	414	33	(	(	PUNCT
aiti-4139	414	34	)	)	PUNCT
aiti-4139	414	35	(	(	PUNCT
aiti-4139	414	36	)	)	PUNCT
aiti-4139	414	37	(	(	PUNCT
aiti-4139	414	38	)	)	PUNCT
aiti-4139	414	39	2	2	NUM
aiti-4139	414	40	(	(	PUNCT
aiti-4139	414	41	)	)	PUNCT
aiti-4139	414	42	(	(	PUNCT
aiti-4139	414	43	)	)	PUNCT
aiti-4139	414	44	(	(	PUNCT
aiti-4139	414	45	)	)	PUNCT
aiti-4139	414	46	(	(	PUNCT
aiti-4139	414	47	)	)	PUNCT
aiti-4139	414	48	2	2	NUM
aiti-4139	414	49	(	(	PUNCT
aiti-4139	414	50	)	)	PUNCT
aiti-4139	414	51	(	(	PUNCT
aiti-4139	414	52	)	)	PUNCT
aiti-4139	414	53	t	t	NOUN
aiti-4139	414	54	tl	tl	PROPN
aiti-4139	414	55	t	t	PROPN
aiti-4139	415	1	t	t	PROPN
aiti-4139	415	2	t	t	PROPN
aiti-4139	415	3	t	t	PROPN
aiti-4139	415	4	t	t	PROPN
aiti-4139	415	5	t	t	PROPN
aiti-4139	415	6	v	v	ADP
aiti-4139	415	7	t	t	PROPN
aiti-4139	416	1	f	f	PROPN
aiti-4139	416	2	b	b	PROPN
aiti-4139	416	3	px	px	PROPN
aiti-4139	416	4	t	t	PROPN
aiti-4139	416	5	v	v	ADP
aiti-4139	416	6	t	t	PROPN
aiti-4139	416	7	v	v	NOUN
aiti-4139	416	8	t	t	X
aiti-4139	416	9	fd	fd	INTJ
aiti-4139	417	1	dm	dm	PROPN
aiti-4139	417	2	b	b	PROPN
aiti-4139	417	3	px	px	PROPN
aiti-4139	417	4	t	t	PROPN
aiti-4139	417	5	b	b	PROPN
aiti-4139	417	6	px	px	PROPN
aiti-4139	417	7	tv	tv	PROPN
aiti-4139	417	8	t	t	PROPN
aiti-4139	418	1	f	f	PROPN
aiti-4139	418	2	b	b	PROPN
aiti-4139	418	3	px	px	PROPN
aiti-4139	418	4	t	t	PROPN
aiti-4139	418	5	fd	fd	PROPN
aiti-4139	418	6	dm	dm	PROPN
aiti-4139	418	7	b	b	PROPN
aiti-4139	418	8	px	px	PROPN
aiti-4139	418	9	t	t	PROPN
aiti-4139	418	10	b	b	PROPN
aiti-4139	418	11	px	px	PROPN
aiti-4139	418	12	t	t	PROPN
aiti-4139	418	13			NOUN
aiti-4139	419	1			PROPN
aiti-4139	419	2			PROPN
aiti-4139	419	3			PROPN
aiti-4139	420	1			PROPN
aiti-4139	420	2			PROPN
aiti-4139	420	3			NOUN
aiti-4139	421	1			PROPN
aiti-4139	422	1			NUM
aiti-4139	422	2			PROPN
aiti-4139	422	3			PROPN
aiti-4139	422	4			PROPN
aiti-4139	422	5			NOUN
aiti-4139	423	1			PROPN
aiti-4139	423	2			PROPN
aiti-4139	423	3			NOUN
aiti-4139	424	1			PROPN
aiti-4139	424	2			PROPN
aiti-4139	424	3			PROPN
aiti-4139	424	4			PROPN
aiti-4139	425	1			PROPN
aiti-4139	426	1			PROPN
aiti-4139	426	2			PROPN
aiti-4139	426	3			PROPN
aiti-4139	426	4			NOUN
aiti-4139	426	5			PROPN
aiti-4139	426	6			PROPN
aiti-4139	427	1			PROPN
aiti-4139	428	1			PROPN
aiti-4139	428	2			PROPN
aiti-4139	429	1			PROPN
aiti-4139	429	2			NOUN
aiti-4139	429	3	(	(	PUNCT
aiti-4139	429	4	44	44	NUM
aiti-4139	429	5	)	)	PUNCT
aiti-4139	429	6	then	then	ADV
aiti-4139	429	7	we	we	PRON
aiti-4139	429	8	have	have	VERB
aiti-4139	429	9	advances	advance	NOUN
aiti-4139	429	10	technology	technology	NOUN
aiti-4139	429	11	innovation	innovation	NOUN
aiti-4139	429	12	,	,	PUNCT
aiti-4139	429	13	vol	vol	NOUN
aiti-4139	429	14	.	.	PROPN
aiti-4139	429	15	4	4	NUM
aiti-4139	429	16	,	,	PUNCT
aiti-4139	429	17	no	no	INTJ
aiti-4139	429	18	.	.	NOUN
aiti-4139	429	19	4	4	NUM
aiti-4139	429	20	,	,	PUNCT
aiti-4139	429	21	2019	2019	NUM
aiti-4139	429	22	,	,	PUNCT
aiti-4139	429	23	pp	pp	ADJ
aiti-4139	429	24	.	.	PUNCT
aiti-4139	430	1	234	234	NUM
aiti-4139	430	2	-	-	SYM
aiti-4139	430	3	246	246	NUM
aiti-4139	430	4	242	242	NUM
aiti-4139	430	5			NOUN
aiti-4139	430	6	2	2	NOUN
aiti-4139	430	7	3	3	NUM
aiti-4139	430	8	(	(	PUNCT
aiti-4139	430	9	,	,	PUNCT
aiti-4139	430	10	,	,	PUNCT
aiti-4139	430	11	(	(	PUNCT
aiti-4139	430	12	)	)	PUNCT
aiti-4139	430	13	)	)	PUNCT
aiti-4139	430	14	2	2	NUM
aiti-4139	430	15	(	(	PUNCT
aiti-4139	430	16	)	)	PUNCT
aiti-4139	430	17	(	(	PUNCT
aiti-4139	430	18	)	)	PUNCT
aiti-4139	430	19	0p	0p	PROPN
aiti-4139	431	1	f	f	PROPN
aiti-4139	431	2	v	v	ADP
aiti-4139	431	3	t	t	PROPN
aiti-4139	431	4	t	t	NOUN
aiti-4139	431	5	t	t	X
aiti-4139	432	1			PROPN
aiti-4139	432	2			PUNCT
aiti-4139	432	3			PROPN
aiti-4139	432	4			PROPN
aiti-4139	432	5	(	(	PUNCT
aiti-4139	432	6	45	45	NUM
aiti-4139	432	7	)	)	PUNCT
aiti-4139	432	8	once	once	ADV
aiti-4139	432	9	again	again	ADV
aiti-4139	432	10	considering	consider	VERB
aiti-4139	432	11	the	the	DET
aiti-4139	432	12	asymptotic	asymptotic	ADJ
aiti-4139	432	13	stability	stability	NOUN
aiti-4139	432	14	condition	condition	NOUN
aiti-4139	432	15	of	of	ADP
aiti-4139	432	16	(	(	PUNCT
aiti-4139	432	17	34	34	NUM
aiti-4139	432	18	)	)	PUNCT
aiti-4139	432	19	,	,	PUNCT
aiti-4139	432	20	the	the	DET
aiti-4139	432	21	quadratic	quadratic	ADJ
aiti-4139	432	22	form	form	NOUN
aiti-4139	432	23	term	term	NOUN
aiti-4139	432	24	of	of	ADP
aiti-4139	432	25	(	(	PUNCT
aiti-4139	432	26	)	)	PUNCT
aiti-4139	432	27	x	x	SYM
aiti-4139	432	28	t	t	PROPN
aiti-4139	432	29	should	should	AUX
aiti-4139	432	30	satisfy	satisfy	VERB
aiti-4139	432	31	(	(	PUNCT
aiti-4139	432	32	)	)	PUNCT
aiti-4139	432	33	(	(	PUNCT
aiti-4139	432	34	,	,	PUNCT
aiti-4139	432	35	,	,	PUNCT
aiti-4139	432	36	)	)	PUNCT
aiti-4139	432	37	(	(	PUNCT
aiti-4139	432	38	)	)	PUNCT
aiti-4139	433	1	0tx	0tx	NOUN
aiti-4139	433	2	t	t	PROPN
aiti-4139	433	3	p	p	X
aiti-4139	433	4	k	k	PROPN
aiti-4139	433	5	f	f	X
aiti-4139	433	6	x	x	SYM
aiti-4139	433	7	t	t	PROPN
aiti-4139	433	8			PROPN
aiti-4139	433	9	(	(	PUNCT
aiti-4139	433	10	46	46	NUM
aiti-4139	433	11	)	)	PUNCT
aiti-4139	433	12	the	the	DET
aiti-4139	433	13	inequality	inequality	NOUN
aiti-4139	433	14	of	of	ADP
aiti-4139	433	15	(	(	PUNCT
aiti-4139	433	16	46	46	NUM
aiti-4139	433	17	)	)	PUNCT
aiti-4139	433	18	is	be	AUX
aiti-4139	433	19	equivalent	equivalent	ADJ
aiti-4139	433	20	to	to	ADP
aiti-4139	433	21	the	the	DET
aiti-4139	433	22	following	follow	VERB
aiti-4139	433	23	condition	condition	NOUN
aiti-4139	433	24	;	;	PUNCT
aiti-4139	433	25	(	(	PUNCT
aiti-4139	433	26	,	,	PUNCT
aiti-4139	433	27	,	,	PUNCT
aiti-4139	433	28	)	)	PUNCT
aiti-4139	433	29	0p	0p	NUM
aiti-4139	434	1	k	k	PROPN
aiti-4139	434	2	f	f	PROPN
aiti-4139	434	3			PROPN
aiti-4139	434	4	(	(	PUNCT
aiti-4139	434	5	47	47	NUM
aiti-4139	434	6	)	)	PUNCT
aiti-4139	434	7	in	in	ADP
aiti-4139	434	8	order	order	NOUN
aiti-4139	434	9	to	to	PART
aiti-4139	434	10	design	design	VERB
aiti-4139	434	11	the	the	DET
aiti-4139	434	12	consensus	consensus	NOUN
aiti-4139	434	13	gain	gain	NOUN
aiti-4139	434	14	f	f	X
aiti-4139	434	15	,	,	PUNCT
aiti-4139	434	16	and	and	CCONJ
aiti-4139	434	17	the	the	DET
aiti-4139	434	18	feedback	feedback	NOUN
aiti-4139	434	19	gain	gain	NOUN
aiti-4139	434	20	k	k	NOUN
aiti-4139	434	21	,	,	PUNCT
aiti-4139	434	22	we	we	PRON
aiti-4139	434	23	introduce	introduce	VERB
aiti-4139	434	24	the	the	DET
aiti-4139	434	25	symmetric	symmetric	ADJ
aiti-4139	434	26	positive	positive	ADJ
aiti-4139	434	27	definite	definite	ADJ
aiti-4139	434	28	matrix	matrix	NOUN
aiti-4139	434	29	s	s	VERB
aiti-4139	434	30	satisfying	satisfy	VERB
aiti-4139	434	31	1s	1s	NUM
aiti-4139	434	32	p	p	NOUN
aiti-4139	434	33	and	and	CCONJ
aiti-4139	434	34	change	change	NOUN
aiti-4139	434	35	of	of	ADP
aiti-4139	434	36	variables	variable	NOUN
aiti-4139	434	37	2	2	NUM
aiti-4139	434	38	4	4	NUM
aiti-4139	434	39	kw	kw	INTJ
aiti-4139	434	40	ks	ks	PROPN
aiti-4139	434	41			PROPN
aiti-4139	434	42			NOUN
aiti-4139	434	43	and	and	CCONJ
aiti-4139	434	44	2	2	NUM
aiti-4139	434	45	4	4	NUM
aiti-4139	434	46	fw	fw	NOUN
aiti-4139	434	47	fs	fs	X
aiti-4139	434	48			PROPN
aiti-4139	434	49			PROPN
aiti-4139	434	50	.	.	PUNCT
aiti-4139	435	1	moreover	moreover	ADV
aiti-4139	435	2	,	,	PUNCT
aiti-4139	435	3	preand	preand	VERB
aiti-4139	435	4	post	post	ADJ
aiti-4139	435	5	-	-	ADJ
aiti-4139	435	6	multiplying	multiplying	ADJ
aiti-4139	435	7	(	(	PUNCT
aiti-4139	435	8	47	47	NUM
aiti-4139	435	9	)	)	PUNCT
aiti-4139	435	10	by	by	ADP
aiti-4139	435	11	3	3	NUM
aiti-4139	435	12	(	(	PUNCT
aiti-4139	435	13	)	)	PUNCT
aiti-4139	435	14	i	i	PRON
aiti-4139	435	15	s	s	VERB
aiti-4139	435	16	,	,	PUNCT
aiti-4139	435	17	we	we	PRON
aiti-4139	435	18	get	get	VERB
aiti-4139	435	19	.	.	PUNCT
aiti-4139	436	1	11	11	NUM
aiti-4139	436	2	12	12	NUM
aiti-4139	436	3	13	13	NUM
aiti-4139	436	4	22	22	NUM
aiti-4139	436	5	23	23	NUM
aiti-4139	436	6	33	33	NUM
aiti-4139	436	7	11	11	NUM
aiti-4139	436	8	3	3	NUM
aiti-4139	436	9	3	3	NUM
aiti-4139	436	10	0	0	NUM
aiti-4139	436	11	0	0	NUM
aiti-4139	436	12	0	0	NUM
aiti-4139	436	13	0	0	NUM
aiti-4139	436	14	*	*	SYM
aiti-4139	436	15	0	0	PUNCT
aiti-4139	437	1	*	*	PUNCT
aiti-4139	437	2	*	*	PUNCT
aiti-4139	437	3	0	0	PUNCT
aiti-4139	438	1	*	*	PUNCT
aiti-4139	439	1	*	*	PUNCT
aiti-4139	440	1	*	*	PUNCT
aiti-4139	441	1	*	*	PUNCT
aiti-4139	441	2	*	*	PUNCT
aiti-4139	442	1	*	*	PUNCT
aiti-4139	442	2	*	*	PUNCT
aiti-4139	442	3	0	0	PUNCT
aiti-4139	443	1	*	*	PUNCT
aiti-4139	443	2	*	*	PUNCT
aiti-4139	443	3	(	(	PUNCT
aiti-4139	443	4	,	,	PUNCT
aiti-4139	443	5	2	2	NUM
aiti-4139	443	6	)	)	PUNCT
aiti-4139	443	7	,	,	PUNCT
aiti-4139	443	8	(	(	PUNCT
aiti-4139	443	9	)	)	PUNCT
aiti-4139	443	10	(	(	PUNCT
aiti-4139	443	11	,	,	PUNCT
aiti-4139	443	12	,	,	PUNCT
aiti-4139	443	13	)	)	PUNCT
aiti-4139	444	1	(	(	PUNCT
aiti-4139	444	2	)	)	PUNCT
aiti-4139	444	3	t	t	NOUN
aiti-4139	444	4	t	t	PROPN
aiti-4139	444	5	t	t	PROPN
aiti-4139	444	6	t	t	PROPN
aiti-4139	444	7	t	t	PROPN
aiti-4139	444	8	k	k	PROPN
aiti-4139	444	9	k	k	PROPN
aiti-4139	444	10	t	t	PROPN
aiti-4139	444	11	t	t	PROPN
aiti-4139	444	12	t	t	PROPN
aiti-4139	445	1	f	f	PROPN
aiti-4139	445	2	f	f	PROPN
aiti-4139	446	1	t	t	PROPN
aiti-4139	446	2	f	f	PROPN
aiti-4139	446	3	f	f	PROPN
aiti-4139	446	4	k	k	PROPN
aiti-4139	446	5	k	k	PROPN
aiti-4139	446	6	t	t	PROPN
aiti-4139	446	7	t	t	PROPN
aiti-4139	446	8	t	t	PROPN
aiti-4139	446	9	k	k	PROPN
aiti-4139	447	1	k	k	PROPN
aiti-4139	447	2	a	a	DET
aiti-4139	447	3	p	p	X
aiti-4139	448	1	pa	pa	PROPN
aiti-4139	448	2	f	f	PROPN
aiti-4139	448	3	b	b	PROPN
aiti-4139	448	4	p	p	X
aiti-4139	448	5	f	f	PROPN
aiti-4139	448	6	b	b	PROPN
aiti-4139	448	7	ps	ps	PROPN
aiti-4139	448	8	s	s	NOUN
aiti-4139	448	9	s	s	X
aiti-4139	448	10	a	a	PRON
aiti-4139	448	11	p	p	X
aiti-4139	448	12	pa	pa	PROPN
aiti-4139	448	13	f	f	PROPN
aiti-4139	448	14	b	b	PROPN
aiti-4139	449	1	p	p	X
aiti-4139	449	2	pbf	pbf	PROPN
aiti-4139	449	3	s	s	PROPN
aiti-4139	449	4	s	s	PROPN
aiti-4139	449	5	sa	sa	NOUN
aiti-4139	449	6	p	p	PROPN
aiti-4139	449	7	pa	pa	PROPN
aiti-4139	449	8	a	a	PRON
aiti-4139	449	9	a	a	PRON
aiti-4139	449	10	bk	bk	ADP
aiti-4139	449	11	a	a	DET
aiti-4139	449	12	a	a	DET
aiti-4139	449	13	bk	bk	NOUN
aiti-4139	449	14	bf	bf	NOUN
aiti-4139	449	15	sa	sa	NOUN
aiti-4139	449	16	as	as	ADP
aiti-4139	449	17	w	w	PROPN
aiti-4139	449	18	b	b	PROPN
aiti-4139	449	19	bw	bw	NOUN
aiti-4139	450	1	i	i	PRON
aiti-4139	450	2	s	s	VERB
aiti-4139	450	3	p	p	X
aiti-4139	451	1	k	k	PROPN
aiti-4139	451	2	f	f	X
aiti-4139	452	1	i	i	PRON
aiti-4139	452	2	s	s	VERB
aiti-4139	452	3			NOUN
aiti-4139	453	1			NOUN
aiti-4139	454	1			NOUN
aiti-4139	455	1			NOUN
aiti-4139	456	1			NOUN
aiti-4139	457	1			NOUN
aiti-4139	458	1			NOUN
aiti-4139	458	2			NOUN
aiti-4139	458	3			VERB
aiti-4139	458	4			NOUN
aiti-4139	458	5			PROPN
aiti-4139	458	6			PROPN
aiti-4139	458	7			NOUN
aiti-4139	458	8			PROPN
aiti-4139	458	9			PROPN
aiti-4139	459	1			PROPN
aiti-4139	459	2			PROPN
aiti-4139	460	1			PROPN
aiti-4139	461	1			NOUN
aiti-4139	461	2			VERB
aiti-4139	461	3			PUNCT
aiti-4139	461	4			PROPN
aiti-4139	461	5			PROPN
aiti-4139	461	6			PROPN
aiti-4139	462	1			PROPN
aiti-4139	463	1			X
aiti-4139	463	2			X
aiti-4139	464	1			INTJ
aiti-4139	465	1			PROPN
aiti-4139	465	2			PROPN
aiti-4139	466	1			PROPN
aiti-4139	466	2			VERB
aiti-4139	466	3			NOUN
aiti-4139	466	4			PROPN
aiti-4139	466	5			PROPN
aiti-4139	466	6			PROPN
aiti-4139	466	7			NOUN
aiti-4139	466	8			NOUN
aiti-4139	466	9			NOUN
aiti-4139	467	1			PROPN
aiti-4139	468	1			PROPN
aiti-4139	469	1			NOUN
aiti-4139	469	2			PUNCT
aiti-4139	470	1			PROPN
aiti-4139	471	1			PROPN
aiti-4139	471	2			PROPN
aiti-4139	472	1			PROPN
aiti-4139	472	2			PROPN
aiti-4139	472	3			NUM
aiti-4139	472	4			ADJ
aiti-4139	472	5			PROPN
aiti-4139	472	6			ADV
aiti-4139	472	7			PUNCT
aiti-4139	472	8			PROPN
aiti-4139	472	9			PROPN
aiti-4139	472	10			PUNCT
aiti-4139	472	11			PUNCT
aiti-4139	472	12			PUNCT
aiti-4139	472	13			PROPN
aiti-4139	472	14			NUM
aiti-4139	472	15	12	12	NUM
aiti-4139	472	16	13	13	NUM
aiti-4139	472	17	22	22	NUM
aiti-4139	472	18	33	33	NUM
aiti-4139	472	19	232	232	NUM
aiti-4139	472	20	2	2	NUM
aiti-4139	472	21	,	,	PUNCT
aiti-4139	473	1	t	t	PROPN
aiti-4139	473	2	t	t	PROPN
aiti-4139	473	3	k	k	PROPN
aiti-4139	473	4	t	t	PROPN
aiti-4139	473	5	t	t	PROPN
aiti-4139	473	6	t	t	PROPN
aiti-4139	473	7	t	t	PROPN
aiti-4139	473	8	t	t	PROPN
aiti-4139	473	9	t	t	PROPN
aiti-4139	473	10	t	t	PROPN
aiti-4139	474	1	k	k	PROPN
aiti-4139	475	1	k	k	PROPN
aiti-4139	476	1	f	f	X
aiti-4139	477	1	f	f	X
aiti-4139	477	2	f	f	PROPN
aiti-4139	477	3	f	f	PROPN
aiti-4139	477	4	w	w	PROPN
aiti-4139	477	5	b	b	PROPN
aiti-4139	477	6	sa	sa	PROPN
aiti-4139	477	7	as	as	ADP
aiti-4139	477	8	w	w	PROPN
aiti-4139	477	9	b	b	PROPN
aiti-4139	477	10	bw	bw	PROPN
aiti-4139	477	11	bw	bw	PROPN
aiti-4139	477	12	w	w	PROPN
aiti-4139	477	13	b	b	PROPN
aiti-4139	477	14	w	w	PROPN
aiti-4139	477	15	b	b	PROPN
aiti-4139	477	16	bw	bw	PROPN
aiti-4139	477	17			NOUN
aiti-4139	477	18			NOUN
aiti-4139	478	1			NOUN
aiti-4139	478	2			NOUN
aiti-4139	479	1			NOUN
aiti-4139	480	1			NUM
aiti-4139	480	2			PROPN
aiti-4139	480	3			NOUN
aiti-4139	480	4			PROPN
aiti-4139	480	5			PROPN
aiti-4139	480	6			ADV
aiti-4139	480	7			PUNCT
aiti-4139	480	8			PROPN
aiti-4139	480	9			VERB
aiti-4139	480	10			PUNCT
aiti-4139	480	11			PRON
aiti-4139	480	12			NOUN
aiti-4139	480	13	(	(	PUNCT
aiti-4139	480	14	48	48	NUM
aiti-4139	480	15	)	)	PUNCT
aiti-4139	480	16	this	this	DET
aiti-4139	480	17	inequality	inequality	NOUN
aiti-4139	480	18	of	of	ADP
aiti-4139	480	19	(	(	PUNCT
aiti-4139	480	20	48	48	NUM
aiti-4139	480	21	)	)	PUNCT
aiti-4139	480	22	is	be	AUX
aiti-4139	480	23	linear	linear	ADJ
aiti-4139	480	24	matrix	matrix	NOUN
aiti-4139	480	25	inequality	inequality	NOUN
aiti-4139	480	26	(	(	PUNCT
aiti-4139	480	27	lmi	lmi	PROPN
aiti-4139	480	28	)	)	PUNCT
aiti-4139	480	29	for	for	ADP
aiti-4139	480	30	s	s	PRON
aiti-4139	480	31	,	,	PUNCT
aiti-4139	480	32	kw	kw	INTJ
aiti-4139	480	33	and	and	CCONJ
aiti-4139	480	34	fw	fw	PROPN
aiti-4139	480	35	.	.	PUNCT
aiti-4139	481	1	if	if	SCONJ
aiti-4139	481	2	the	the	DET
aiti-4139	481	3	solution	solution	NOUN
aiti-4139	481	4	of	of	ADP
aiti-4139	481	5	the	the	DET
aiti-4139	481	6	lmi	lmi	PROPN
aiti-4139	481	7	of	of	ADP
aiti-4139	481	8	(	(	PUNCT
aiti-4139	481	9	48	48	NUM
aiti-4139	481	10	)	)	PUNCT
aiti-4139	481	11	exists	exist	VERB
aiti-4139	481	12	,	,	PUNCT
aiti-4139	481	13	the	the	DET
aiti-4139	481	14	asymptotic	asymptotic	ADJ
aiti-4139	481	15	stability	stability	NOUN
aiti-4139	481	16	of	of	ADP
aiti-4139	481	17	the	the	DET
aiti-4139	481	18	closed	closed	ADJ
aiti-4139	481	19	-	-	PUNCT
aiti-4139	481	20	loop	loop	NOUN
aiti-4139	481	21	system	system	NOUN
aiti-4139	481	22	of	of	ADP
aiti-4139	481	23	(	(	PUNCT
aiti-4139	481	24	22	22	NUM
aiti-4139	481	25	)	)	PUNCT
aiti-4139	481	26	is	be	AUX
aiti-4139	481	27	guaranteed	guarantee	VERB
aiti-4139	481	28	,	,	PUNCT
aiti-4139	481	29	and	and	CCONJ
aiti-4139	481	30	the	the	DET
aiti-4139	481	31	feedback	feedback	NOUN
aiti-4139	481	32	gain	gain	VERB
aiti-4139	481	33	k	k	PROPN
aiti-4139	481	34	and	and	CCONJ
aiti-4139	481	35	the	the	DET
aiti-4139	481	36	consensus	consensus	NOUN
aiti-4139	481	37	gain	gain	NOUN
aiti-4139	481	38	f	f	PROPN
aiti-4139	481	39	can	can	AUX
aiti-4139	481	40	be	be	AUX
aiti-4139	481	41	obtained	obtain	VERB
aiti-4139	481	42	as	as	ADP
aiti-4139	481	43	1	1	NUM
aiti-4139	481	44	1	1	NUM
aiti-4139	481	45	,	,	PUNCT
aiti-4139	482	1	k	k	PROPN
aiti-4139	482	2	fk	fk	INTJ
aiti-4139	483	1	w	w	PROPN
aiti-4139	483	2	s	s	PROPN
aiti-4139	483	3	f	f	PROPN
aiti-4139	483	4	w	w	PROPN
aiti-4139	483	5	s	s	NOUN
aiti-4139	483	6			PROPN
aiti-4139	483	7			PROPN
aiti-4139	483	8	(	(	PUNCT
aiti-4139	483	9	49	49	NUM
aiti-4139	483	10	)	)	PUNCT
aiti-4139	483	11	from	from	ADP
aiti-4139	483	12	the	the	DET
aiti-4139	483	13	above	above	ADJ
aiti-4139	483	14	discussion	discussion	NOUN
aiti-4139	483	15	,	,	PUNCT
aiti-4139	483	16	the	the	DET
aiti-4139	483	17	proof	proof	NOUN
aiti-4139	483	18	of	of	ADP
aiti-4139	483	19	theorem1	theorem1	PROPN
aiti-4139	483	20	is	be	AUX
aiti-4139	483	21	accomplished	accomplish	VERB
aiti-4139	483	22	.	.	PUNCT
aiti-4139	484	1	remark	remark	PROPN
aiti-4139	484	2	1	1	NUM
aiti-4139	484	3	:	:	PUNCT
aiti-4139	484	4	in	in	ADP
aiti-4139	484	5	this	this	DET
aiti-4139	484	6	paper	paper	NOUN
aiti-4139	484	7	,	,	PUNCT
aiti-4139	484	8	we	we	PRON
aiti-4139	484	9	approached	approach	VERB
aiti-4139	484	10	the	the	DET
aiti-4139	484	11	case	case	NOUN
aiti-4139	484	12	of	of	ADP
aiti-4139	484	13	network	network	NOUN
aiti-4139	484	14	topology	topology	NOUN
aiti-4139	484	15	such	such	ADJ
aiti-4139	484	16	as	as	ADP
aiti-4139	484	17	fig.1	fig.1	PROPN
aiti-4139	484	18	as	as	ADP
aiti-4139	484	19	an	an	DET
aiti-4139	484	20	example	example	NOUN
aiti-4139	484	21	,	,	PUNCT
aiti-4139	484	22	but	but	CCONJ
aiti-4139	484	23	the	the	DET
aiti-4139	484	24	other	other	ADJ
aiti-4139	484	25	topological	topological	ADJ
aiti-4139	484	26	structures	structure	NOUN
aiti-4139	484	27	can	can	AUX
aiti-4139	484	28	be	be	AUX
aiti-4139	484	29	handled	handle	VERB
aiti-4139	484	30	if	if	SCONJ
aiti-4139	484	31	similar	similar	ADJ
aiti-4139	484	32	theoretical	theoretical	ADJ
aiti-4139	484	33	development	development	NOUN
aiti-4139	484	34	is	be	AUX
aiti-4139	484	35	applied	apply	VERB
aiti-4139	484	36	.	.	PUNCT
aiti-4139	485	1	however	however	ADV
aiti-4139	485	2	,	,	PUNCT
aiti-4139	485	3	it	it	PRON
aiti-4139	485	4	is	be	AUX
aiti-4139	485	5	inevitable	inevitable	ADJ
aiti-4139	485	6	that	that	SCONJ
aiti-4139	485	7	lmi	lmi	PROPN
aiti-4139	485	8	will	will	AUX
aiti-4139	485	9	increase	increase	VERB
aiti-4139	485	10	in	in	ADP
aiti-4139	485	11	size	size	NOUN
aiti-4139	485	12	and	and	CCONJ
aiti-4139	485	13	complexity	complexity	NOUN
aiti-4139	485	14	by	by	ADP
aiti-4139	485	15	the	the	DET
aiti-4139	485	16	number	number	NOUN
aiti-4139	485	17	of	of	ADP
aiti-4139	485	18	agents	agent	NOUN
aiti-4139	485	19	and	and	CCONJ
aiti-4139	485	20	the	the	DET
aiti-4139	485	21	topology	topology	NOUN
aiti-4139	485	22	becomes	become	VERB
aiti-4139	485	23	complicated	complicated	ADJ
aiti-4139	485	24	.	.	PUNCT
aiti-4139	486	1	remark	remark	NOUN
aiti-4139	486	2	2	2	NUM
aiti-4139	486	3	:	:	PUNCT
aiti-4139	486	4	when	when	SCONJ
aiti-4139	486	5	the	the	DET
aiti-4139	486	6	relative	relative	ADJ
aiti-4139	486	7	position	position	NOUN
aiti-4139	486	8	between	between	ADP
aiti-4139	486	9	the	the	DET
aiti-4139	486	10	leader	leader	NOUN
aiti-4139	486	11	and	and	CCONJ
aiti-4139	486	12	the	the	DET
aiti-4139	486	13	follower	follower	NOUN
aiti-4139	486	14	is	be	AUX
aiti-4139	486	15	considered	consider	VERB
aiti-4139	486	16	explicitly	explicitly	ADV
aiti-4139	486	17	,	,	PUNCT
aiti-4139	486	18	it	it	PRON
aiti-4139	486	19	is	be	AUX
aiti-4139	486	20	often	often	ADV
aiti-4139	486	21	uncertain	uncertain	ADJ
aiti-4139	486	22	or	or	CCONJ
aiti-4139	486	23	unknown	unknown	ADJ
aiti-4139	486	24	about	about	ADP
aiti-4139	486	25	the	the	DET
aiti-4139	486	26	relative	relative	ADJ
aiti-4139	486	27	position	position	NOUN
aiti-4139	486	28	between	between	ADP
aiti-4139	486	29	the	the	DET
aiti-4139	486	30	leader	leader	NOUN
aiti-4139	486	31	and	and	CCONJ
aiti-4139	486	32	the	the	DET
aiti-4139	486	33	other	other	ADJ
aiti-4139	486	34	followers	follower	NOUN
aiti-4139	486	35	.	.	PUNCT
aiti-4139	487	1	thus	thus	ADV
aiti-4139	487	2	,	,	PUNCT
aiti-4139	487	3	construction	construction	NOUN
aiti-4139	487	4	of	of	ADP
aiti-4139	487	5	the	the	DET
aiti-4139	487	6	state	state	NOUN
aiti-4139	487	7	equation	equation	NOUN
aiti-4139	487	8	is	be	AUX
aiti-4139	487	9	generally	generally	ADV
aiti-4139	487	10	not	not	PART
aiti-4139	487	11	easy	easy	ADJ
aiti-4139	487	12	.	.	PUNCT
aiti-4139	488	1	as	as	ADP
aiti-4139	488	2	a	a	DET
aiti-4139	488	3	result	result	NOUN
aiti-4139	488	4	,	,	PUNCT
aiti-4139	488	5	there	there	PRON
aiti-4139	488	6	are	be	VERB
aiti-4139	488	7	not	not	PART
aiti-4139	488	8	much	much	ADJ
aiti-4139	488	9	exiting	exiting	NOUN
aiti-4139	488	10	results	result	NOUN
aiti-4139	488	11	which	which	PRON
aiti-4139	488	12	have	have	AUX
aiti-4139	488	13	explicitly	explicitly	ADV
aiti-4139	488	14	dealt	deal	VERB
aiti-4139	488	15	with	with	ADP
aiti-4139	488	16	the	the	DET
aiti-4139	488	17	relative	relative	ADJ
aiti-4139	488	18	position	position	NOUN
aiti-4139	488	19	in	in	ADP
aiti-4139	488	20	the	the	DET
aiti-4139	488	21	dynamics	dynamic	NOUN
aiti-4139	488	22	as	as	ADV
aiti-4139	488	23	far	far	ADV
aiti-4139	488	24	as	as	SCONJ
aiti-4139	488	25	we	we	PRON
aiti-4139	488	26	know	know	VERB
aiti-4139	488	27	.	.	PUNCT
aiti-4139	489	1	on	on	ADP
aiti-4139	489	2	the	the	DET
aiti-4139	489	3	other	other	ADJ
aiti-4139	489	4	hand	hand	NOUN
aiti-4139	489	5	,	,	PUNCT
aiti-4139	489	6	in	in	ADP
aiti-4139	489	7	this	this	DET
aiti-4139	489	8	study	study	NOUN
aiti-4139	489	9	,	,	PUNCT
aiti-4139	489	10	it	it	PRON
aiti-4139	489	11	is	be	AUX
aiti-4139	489	12	possible	possible	ADJ
aiti-4139	489	13	to	to	PART
aiti-4139	489	14	discuss	discuss	VERB
aiti-4139	489	15	lmi	lmi	PROPN
aiti-4139	489	16	-	-	PUNCT
aiti-4139	489	17	based	base	VERB
aiti-4139	489	18	control	control	NOUN
aiti-4139	489	19	system	system	NOUN
aiti-4139	489	20	design	design	NOUN
aiti-4139	489	21	that	that	PRON
aiti-4139	489	22	clearly	clearly	ADV
aiti-4139	489	23	indicates	indicate	VERB
aiti-4139	489	24	relative	relative	ADJ
aiti-4139	489	25	positional	positional	ADJ
aiti-4139	489	26	relationship	relationship	NOUN
aiti-4139	489	27	by	by	ADP
aiti-4139	489	28	adding	add	VERB
aiti-4139	489	29	an	an	DET
aiti-4139	489	30	input	input	NOUN
aiti-4139	489	31	using	use	VERB
aiti-4139	489	32	the	the	DET
aiti-4139	489	33	maximum	maximum	ADJ
aiti-4139	489	34	value	value	NOUN
aiti-4139	489	35	of	of	ADP
aiti-4139	489	36	relative	relative	ADJ
aiti-4139	489	37	distance	distance	NOUN
aiti-4139	489	38	that	that	PRON
aiti-4139	489	39	is	be	AUX
aiti-4139	489	40	known	know	VERB
aiti-4139	489	41	when	when	SCONJ
aiti-4139	489	42	performing	perform	VERB
aiti-4139	489	43	the	the	DET
aiti-4139	489	44	desired	desire	VERB
aiti-4139	489	45	formation	formation	NOUN
aiti-4139	489	46	.	.	PUNCT
aiti-4139	490	1	5	5	X
aiti-4139	490	2	.	.	X
aiti-4139	490	3	numerical	numerical	PROPN
aiti-4139	490	4	simulation	simulation	PROPN
aiti-4139	490	5	firstly	firstly	ADV
aiti-4139	490	6	,	,	PUNCT
aiti-4139	490	7	by	by	ADP
aiti-4139	490	8	solving	solve	VERB
aiti-4139	490	9	lmi	lmi	PROPN
aiti-4139	490	10	(	(	PUNCT
aiti-4139	490	11	48	48	NUM
aiti-4139	490	12	)	)	PUNCT
aiti-4139	490	13	,	,	PUNCT
aiti-4139	490	14	we	we	PRON
aiti-4139	490	15	have	have	VERB
aiti-4139	490	16	symmetric	symmetric	ADJ
aiti-4139	490	17	positive	positive	ADJ
aiti-4139	490	18	definite	definite	ADJ
aiti-4139	490	19	matrices	matrix	NOUN
aiti-4139	490	20	4	4	NUM
aiti-4139	490	21	4s	4s	NUM
aiti-4139	490	22			NOUN
aiti-4139	490	23	,	,	PUNCT
aiti-4139	490	24	4	4	NUM
aiti-4139	490	25	4p	4p	NUM
aiti-4139	490	26			NOUN
aiti-4139	490	27	and	and	CCONJ
aiti-4139	490	28	matrices	matrix	NOUN
aiti-4139	490	29	2	2	NUM
aiti-4139	490	30	4	4	NUM
aiti-4139	490	31	kw	kw	NOUN
aiti-4139	490	32			NOUN
aiti-4139	490	33	and	and	CCONJ
aiti-4139	490	34	2	2	NUM
aiti-4139	490	35	4	4	NUM
aiti-4139	490	36	fw	fw	NOUN
aiti-4139	490	37			NOUN
aiti-4139	490	38	which	which	PRON
aiti-4139	490	39	are	be	AUX
aiti-4139	490	40	given	give	VERB
aiti-4139	490	41	by	by	ADP
aiti-4139	490	42	advances	advance	NOUN
aiti-4139	490	43	technology	technology	NOUN
aiti-4139	490	44	innovation	innovation	NOUN
aiti-4139	490	45	,	,	PUNCT
aiti-4139	490	46	vol	vol	NOUN
aiti-4139	490	47	.	.	PROPN
aiti-4139	491	1	4	4	NUM
aiti-4139	491	2	,	,	PUNCT
aiti-4139	491	3	no	no	INTJ
aiti-4139	491	4	.	.	NOUN
aiti-4139	491	5	4	4	NUM
aiti-4139	491	6	,	,	PUNCT
aiti-4139	491	7	2019	2019	NUM
aiti-4139	491	8	,	,	PUNCT
aiti-4139	491	9	pp	pp	ADJ
aiti-4139	491	10	.	.	PUNCT
aiti-4139	492	1	234	234	NUM
aiti-4139	492	2	-	-	SYM
aiti-4139	492	3	246	246	NUM
aiti-4139	493	1	243	243	NUM
aiti-4139	493	2	1	1	NUM
aiti-4139	493	3	3	3	NUM
aiti-4139	493	4	3	3	NUM
aiti-4139	493	5	1	1	NUM
aiti-4139	493	6	3	3	NUM
aiti-4139	493	7	3	3	NUM
aiti-4139	493	8	3	3	NUM
aiti-4139	493	9	3	3	NUM
aiti-4139	493	10	1	1	NUM
aiti-4139	493	11	3	3	NUM
aiti-4139	493	12	3	3	NUM
aiti-4139	493	13	1	1	NUM
aiti-4139	493	14	1.1574	1.1574	NUM
aiti-4139	493	15	4.2577	4.2577	NUM
aiti-4139	493	16	10	10	NUM
aiti-4139	493	17	2.0326	2.0326	NUM
aiti-4139	493	18	10	10	NUM
aiti-4139	493	19	3.4553	3.4553	NUM
aiti-4139	493	20	10	10	NUM
aiti-4139	493	21	4.2577	4.2577	NUM
aiti-4139	493	22	10	10	NUM
aiti-4139	493	23	1.1574	1.1574	NUM
aiti-4139	493	24	3.4553	3.4553	NUM
aiti-4139	493	25	10	10	NUM
aiti-4139	493	26	2.0326	2.0326	NUM
aiti-4139	493	27	10	10	NUM
aiti-4139	493	28	2.0326	2.0326	NUM
aiti-4139	493	29	10	10	NUM
aiti-4139	493	30	3.4553	3.4553	NUM
aiti-4139	493	31	10	10	NUM
aiti-4139	493	32	1.1574	1.1574	NUM
aiti-4139	493	33	4.2577	4.2577	NUM
aiti-4139	493	34	10	10	NUM
aiti-4139	493	35	3.4553	3.4553	NUM
aiti-4139	493	36	10	10	NUM
aiti-4139	493	37	2.0326	2.0326	NUM
aiti-4139	493	38	10	10	NUM
aiti-4139	493	39	4.2577	4.2577	NUM
aiti-4139	493	40	10	10	NUM
aiti-4139	493	41	1.1574	1.1574	NUM
aiti-4139	493	42	s	s	NOUN
aiti-4139	493	43			PROPN
aiti-4139	493	44			PROPN
aiti-4139	493	45			PROPN
aiti-4139	493	46			PROPN
aiti-4139	493	47			PROPN
aiti-4139	493	48			PROPN
aiti-4139	493	49			PROPN
aiti-4139	493	50			PROPN
aiti-4139	493	51			PROPN
aiti-4139	493	52			PROPN
aiti-4139	493	53			PROPN
aiti-4139	493	54			PROPN
aiti-4139	493	55			NOUN
aiti-4139	493	56			PROPN
aiti-4139	493	57			PROPN
aiti-4139	493	58			PROPN
aiti-4139	493	59			PROPN
aiti-4139	493	60			PROPN
aiti-4139	493	61			PROPN
aiti-4139	493	62			PROPN
aiti-4139	493	63			PROPN
aiti-4139	493	64			PROPN
aiti-4139	493	65			PROPN
aiti-4139	493	66			PROPN
aiti-4139	493	67			NUM
aiti-4139	493	68			VERB
aiti-4139	493	69			PROPN
aiti-4139	493	70			PROPN
aiti-4139	493	71			PROPN
aiti-4139	493	72			PROPN
aiti-4139	493	73			PROPN
aiti-4139	493	74			PROPN
aiti-4139	493	75			PROPN
aiti-4139	493	76			NOUN
aiti-4139	493	77			PROPN
aiti-4139	493	78			VERB
aiti-4139	493	79			PROPN
aiti-4139	493	80			ADP
aiti-4139	493	81			NOUN
aiti-4139	493	82	(	(	PUNCT
aiti-4139	493	83	50	50	NUM
aiti-4139	493	84	)	)	PUNCT
aiti-4139	493	85	1	1	NUM
aiti-4139	493	86	1	1	NUM
aiti-4139	493	87	4	4	NUM
aiti-4139	493	88	3	3	NUM
aiti-4139	493	89	1	1	NUM
aiti-4139	493	90	1	1	NUM
aiti-4139	493	91	3	3	NUM
aiti-4139	493	92	4	4	NUM
aiti-4139	493	93	4	4	NUM
aiti-4139	493	94	3	3	NUM
aiti-4139	493	95	1	1	NUM
aiti-4139	493	96	1	1	NUM
aiti-4139	493	97	3	3	NUM
aiti-4139	493	98	4	4	NUM
aiti-4139	493	99	1	1	NUM
aiti-4139	493	100	1	1	NUM
aiti-4139	493	101	9.9925	9.9925	NUM
aiti-4139	493	102	10	10	NUM
aiti-4139	493	103	3.6760	3.6760	NUM
aiti-4139	493	104	10	10	NUM
aiti-4139	493	105	2.3596	2.3596	NUM
aiti-4139	493	106	10	10	NUM
aiti-4139	493	107	2.4249	2.4249	NUM
aiti-4139	493	108	10	10	NUM
aiti-4139	493	109	3.6760	3.6760	NUM
aiti-4139	493	110	10	10	NUM
aiti-4139	493	111	9.9925	9.9925	NUM
aiti-4139	493	112	10	10	NUM
aiti-4139	493	113	2.4249	2.4249	NUM
aiti-4139	493	114	10	10	NUM
aiti-4139	493	115	2.3462	2.3462	NUM
aiti-4139	493	116	10	10	NUM
aiti-4139	493	117	2.3596	2.3596	NUM
aiti-4139	493	118	10	10	NUM
aiti-4139	493	119	2.4249	2.4249	NUM
aiti-4139	493	120	10	10	NUM
aiti-4139	493	121	9.9925	9.9925	NUM
aiti-4139	493	122	10	10	NUM
aiti-4139	493	123	3.6760	3.6760	NUM
aiti-4139	493	124	10	10	NUM
aiti-4139	493	125	2.4249	2.4249	NUM
aiti-4139	493	126	10	10	NUM
aiti-4139	493	127	2.3462	2.3462	NUM
aiti-4139	493	128	10	10	NUM
aiti-4139	493	129	3.6760	3.6760	NUM
aiti-4139	493	130	10	10	NUM
aiti-4139	493	131	9.9925	9.9925	NUM
aiti-4139	493	132	10	10	NUM
aiti-4139	493	133	p	p	PRON
aiti-4139	493	134			PROPN
aiti-4139	493	135			PROPN
aiti-4139	493	136			PROPN
aiti-4139	493	137			PROPN
aiti-4139	493	138			PROPN
aiti-4139	493	139			PROPN
aiti-4139	493	140			PROPN
aiti-4139	493	141			PROPN
aiti-4139	493	142			PROPN
aiti-4139	493	143			PROPN
aiti-4139	493	144			PROPN
aiti-4139	493	145			PROPN
aiti-4139	493	146			PROPN
aiti-4139	493	147			PROPN
aiti-4139	493	148			PROPN
aiti-4139	493	149			PROPN
aiti-4139	493	150			NOUN
aiti-4139	493	151			PROPN
aiti-4139	493	152			PROPN
aiti-4139	493	153			PROPN
aiti-4139	493	154			PROPN
aiti-4139	493	155			PROPN
aiti-4139	494	1			PROPN
aiti-4139	494	2			PROPN
aiti-4139	494	3			PROPN
aiti-4139	494	4			PROPN
aiti-4139	494	5			NUM
aiti-4139	494	6			NOUN
aiti-4139	494	7			PROPN
aiti-4139	494	8			NOUN
aiti-4139	494	9			PROPN
aiti-4139	494	10			PROPN
aiti-4139	494	11			PROPN
aiti-4139	495	1			PROPN
aiti-4139	495	2			PROPN
aiti-4139	495	3			PROPN
aiti-4139	495	4			PROPN
aiti-4139	495	5			ADP
aiti-4139	495	6			NOUN
aiti-4139	495	7	(	(	PUNCT
aiti-4139	495	8	51	51	NUM
aiti-4139	495	9	)	)	PUNCT
aiti-4139	495	10	3	3	NUM
aiti-4139	495	11	18	18	NUM
aiti-4139	495	12	3	3	NUM
aiti-4139	495	13	1.1651	1.1651	NUM
aiti-4139	495	14	1.9053	1.9053	NUM
aiti-4139	495	15	9.7081	9.7081	NUM
aiti-4139	495	16	10	10	NUM
aiti-4139	495	17	1.6958	1.6958	NUM
aiti-4139	495	18	10	10	NUM
aiti-4139	495	19	9.7077	9.7077	NUM
aiti-4139	495	20	10	10	NUM
aiti-4139	495	21	2.1926	2.1926	NUM
aiti-4139	495	22	1.1651	1.1651	NUM
aiti-4139	495	23	1.9053kw	1.9053kw	NUM
aiti-4139	495	24			PROPN
aiti-4139	495	25			PROPN
aiti-4139	495	26			PROPN
aiti-4139	495	27			PROPN
aiti-4139	495	28			PROPN
aiti-4139	495	29			PROPN
aiti-4139	495	30			PROPN
aiti-4139	495	31			PROPN
aiti-4139	495	32			NOUN
aiti-4139	495	33			PROPN
aiti-4139	495	34			NOUN
aiti-4139	495	35			VERB
aiti-4139	495	36			PROPN
aiti-4139	495	37			PROPN
aiti-4139	495	38			NOUN
aiti-4139	495	39			NOUN
aiti-4139	495	40	(	(	PUNCT
aiti-4139	495	41	52	52	NUM
aiti-4139	495	42	)	)	PUNCT
aiti-4139	495	43	6	6	NUM
aiti-4139	495	44	1	1	NUM
aiti-4139	495	45	6	6	NUM
aiti-4139	495	46	1	1	NUM
aiti-4139	495	47	6	6	NUM
aiti-4139	495	48	1	1	NUM
aiti-4139	495	49	6	6	NUM
aiti-4139	495	50	1	1	NUM
aiti-4139	495	51	6.9246	6.9246	NUM
aiti-4139	495	52	10	10	NUM
aiti-4139	495	53	7.9258	7.9258	NUM
aiti-4139	495	54	10	10	NUM
aiti-4139	495	55	6.9246	6.9246	NUM
aiti-4139	495	56	10	10	NUM
aiti-4139	495	57	5.6843	5.6843	NUM
aiti-4139	495	58	10	10	NUM
aiti-4139	495	59	6.9246	6.9246	NUM
aiti-4139	495	60	10	10	NUM
aiti-4139	495	61	5.6843	5.6843	NUM
aiti-4139	495	62	10	10	NUM
aiti-4139	495	63	6.9246	6.9246	NUM
aiti-4139	495	64	10	10	NUM
aiti-4139	495	65	7.9258	7.9258	NUM
aiti-4139	495	66	10	10	NUM
aiti-4139	495	67	fw	fw	ADJ
aiti-4139	495	68			PROPN
aiti-4139	495	69			PROPN
aiti-4139	495	70			PROPN
aiti-4139	495	71			PROPN
aiti-4139	495	72			PROPN
aiti-4139	495	73			PROPN
aiti-4139	495	74			PROPN
aiti-4139	495	75			PROPN
aiti-4139	495	76			NOUN
aiti-4139	495	77			PROPN
aiti-4139	495	78			PROPN
aiti-4139	495	79			PROPN
aiti-4139	495	80			PROPN
aiti-4139	495	81			PROPN
aiti-4139	495	82			PROPN
aiti-4139	496	1			PROPN
aiti-4139	496	2			PROPN
aiti-4139	496	3			PROPN
aiti-4139	496	4			PROPN
aiti-4139	496	5			ADP
aiti-4139	496	6			NOUN
aiti-4139	496	7	(	(	PUNCT
aiti-4139	496	8	53	53	NUM
aiti-4139	496	9	)	)	PUNCT
aiti-4139	496	10	then	then	ADV
aiti-4139	496	11	the	the	DET
aiti-4139	496	12	feedback	feedback	NOUN
aiti-4139	496	13	gain	gain	VERB
aiti-4139	496	14	2	2	NUM
aiti-4139	496	15	4k	4k	NUM
aiti-4139	496	16			NOUN
aiti-4139	496	17	and	and	CCONJ
aiti-4139	496	18	the	the	DET
aiti-4139	496	19	consensus	consensus	NOUN
aiti-4139	496	20	gain	gain	NOUN
aiti-4139	496	21	2	2	NUM
aiti-4139	496	22	4f	4f	NUM
aiti-4139	496	23			NOUN
aiti-4139	496	24	can	can	AUX
aiti-4139	496	25	be	be	AUX
aiti-4139	496	26	calculated	calculate	VERB
aiti-4139	496	27	as	as	ADP
aiti-4139	496	28	2	2	NUM
aiti-4139	496	29	3	3	NUM
aiti-4139	496	30	1	1	NUM
aiti-4139	496	31	1.8646	1.8646	NUM
aiti-4139	496	32	2.3321	2.3321	NUM
aiti-4139	496	33	1.4595	1.4595	NUM
aiti-4139	496	34	10	10	NUM
aiti-4139	496	35	6.8409	6.8409	NUM
aiti-4139	496	36	10	10	NUM
aiti-4139	496	37	8.2057	8.2057	NUM
aiti-4139	496	38	10	10	NUM
aiti-4139	496	39	2.1978	2.1978	NUM
aiti-4139	496	40	1.8699	1.8699	NUM
aiti-4139	496	41	2.3327	2.3327	NUM
aiti-4139	496	42	k	k	ADJ
aiti-4139	496	43			PROPN
aiti-4139	496	44			PROPN
aiti-4139	496	45			PROPN
aiti-4139	496	46			PROPN
aiti-4139	496	47			PROPN
aiti-4139	496	48			PROPN
aiti-4139	496	49			PROPN
aiti-4139	496	50			PROPN
aiti-4139	496	51			NOUN
aiti-4139	496	52			PROPN
aiti-4139	496	53			NOUN
aiti-4139	496	54			VERB
aiti-4139	496	55			PROPN
aiti-4139	496	56			PROPN
aiti-4139	496	57			NOUN
aiti-4139	496	58			NOUN
aiti-4139	496	59	(	(	PUNCT
aiti-4139	496	60	54	54	NUM
aiti-4139	496	61	)	)	PUNCT
aiti-4139	496	62	1	1	NUM
aiti-4139	496	63	1	1	NUM
aiti-4139	496	64	1	1	NUM
aiti-4139	496	65	1	1	NUM
aiti-4139	496	66	1	1	NUM
aiti-4139	496	67	1	1	NUM
aiti-4139	496	68	1	1	NUM
aiti-4139	496	69	1	1	NUM
aiti-4139	496	70	2.9273	2.9273	NUM
aiti-4139	496	71	10	10	NUM
aiti-4139	496	72	7.9213	7.9213	NUM
aiti-4139	496	73	10	10	NUM
aiti-4139	496	74	2.1088	2.1088	NUM
aiti-4139	496	75	10	10	NUM
aiti-4139	496	76	5.6819	5.6819	NUM
aiti-4139	496	77	10	10	NUM
aiti-4139	496	78	2.1088	2.1088	NUM
aiti-4139	496	79	10	10	NUM
aiti-4139	496	80	5.6819	5.6819	NUM
aiti-4139	496	81	10	10	NUM
aiti-4139	496	82	2.9274	2.9274	NUM
aiti-4139	496	83	10	10	NUM
aiti-4139	496	84	7.9213	7.9213	NUM
aiti-4139	496	85	10	10	NUM
aiti-4139	496	86	f	f	PROPN
aiti-4139	496	87			PROPN
aiti-4139	496	88			PROPN
aiti-4139	496	89			PROPN
aiti-4139	496	90			PROPN
aiti-4139	496	91			PROPN
aiti-4139	496	92			PROPN
aiti-4139	496	93			PROPN
aiti-4139	496	94			PROPN
aiti-4139	496	95			NOUN
aiti-4139	496	96			PROPN
aiti-4139	496	97			PROPN
aiti-4139	496	98			PROPN
aiti-4139	496	99			PROPN
aiti-4139	496	100			PROPN
aiti-4139	497	1			PROPN
aiti-4139	498	1			PROPN
aiti-4139	498	2			PROPN
aiti-4139	498	3			PROPN
aiti-4139	498	4			PROPN
aiti-4139	498	5			ADP
aiti-4139	498	6			NOUN
aiti-4139	498	7	(	(	PUNCT
aiti-4139	498	8	55	55	NUM
aiti-4139	498	9	)	)	PUNCT
aiti-4139	498	10	in	in	ADP
aiti-4139	498	11	this	this	DET
aiti-4139	498	12	example	example	NOUN
aiti-4139	498	13	,	,	PUNCT
aiti-4139	498	14	initial	initial	ADJ
aiti-4139	498	15	values	value	NOUN
aiti-4139	498	16	for	for	ADP
aiti-4139	498	17	the	the	DET
aiti-4139	498	18	closed	closed	ADJ
aiti-4139	498	19	-	-	PUNCT
aiti-4139	498	20	loop	loop	NOUN
aiti-4139	498	21	system	system	NOUN
aiti-4139	498	22	of	of	ADP
aiti-4139	498	23	(	(	PUNCT
aiti-4139	498	24	22	22	NUM
aiti-4139	498	25	)	)	PUNCT
aiti-4139	498	26	are	be	AUX
aiti-4139	498	27	selected	select	VERB
aiti-4139	498	28	as	as	SCONJ
aiti-4139	498	29	follows	follow	VERB
aiti-4139	498	30	;	;	PUNCT
aiti-4139	498	31	2	2	NUM
aiti-4139	498	32	3	3	NUM
aiti-4139	498	33	5	5	NUM
aiti-4139	498	34	6	6	NUM
aiti-4139	498	35	1	1	NUM
aiti-4139	498	36	2	2	NUM
aiti-4139	498	37	4	4	NUM
aiti-4139	498	38	2	2	NUM
aiti-4139	498	39	(	(	PUNCT
aiti-4139	498	40	0	0	NUM
aiti-4139	498	41	)	)	PUNCT
aiti-4139	498	42	,	,	PUNCT
aiti-4139	498	43	(	(	PUNCT
aiti-4139	498	44	0	0	NUM
aiti-4139	498	45	)	)	PUNCT
aiti-4139	498	46	,	,	PUNCT
aiti-4139	498	47	(	(	PUNCT
aiti-4139	498	48	0	0	X
aiti-4139	498	49	)	)	PUNCT
aiti-4139	498	50	3	3	NUM
aiti-4139	498	51	0	0	NUM
aiti-4139	498	52	2	2	NUM
aiti-4139	498	53	2	2	NUM
aiti-4139	498	54	3	3	NUM
aiti-4139	498	55	4	4	NUM
aiti-4139	498	56	lx	lx	NOUN
aiti-4139	498	57	x	x	NOUN
aiti-4139	498	58	x	x	NOUN
aiti-4139	499	1			NOUN
aiti-4139	499	2			PROPN
aiti-4139	499	3			NOUN
aiti-4139	499	4			PROPN
aiti-4139	499	5			NOUN
aiti-4139	499	6			PROPN
aiti-4139	500	1			PROPN
aiti-4139	500	2			PROPN
aiti-4139	501	1			PROPN
aiti-4139	501	2			PROPN
aiti-4139	502	1			PROPN
aiti-4139	502	2			NOUN
aiti-4139	503	1			NUM
aiti-4139	503	2			NOUN
aiti-4139	503	3			PUNCT
aiti-4139	503	4			PROPN
aiti-4139	504	1			PROPN
aiti-4139	505	1			INTJ
aiti-4139	506	1			PROPN
aiti-4139	507	1			INTJ
aiti-4139	508	1			PROPN
aiti-4139	509	1			INTJ
aiti-4139	510	1			PROPN
aiti-4139	510	2			PROPN
aiti-4139	511	1			PROPN
aiti-4139	511	2			NOUN
aiti-4139	511	3			NOUN
aiti-4139	511	4			PROPN
aiti-4139	511	5			NOUN
aiti-4139	511	6			PROPN
aiti-4139	511	7			NOUN
aiti-4139	511	8	(	(	PUNCT
aiti-4139	511	9	56	56	NUM
aiti-4139	511	10	)	)	PUNCT
aiti-4139	511	11	furthermore	furthermore	ADV
aiti-4139	511	12	,	,	PUNCT
aiti-4139	511	13	let	let	VERB
aiti-4139	511	14	(	(	PUNCT
aiti-4139	511	15	)	)	PUNCT
aiti-4139	511	16	r	r	NOUN
aiti-4139	511	17	t	t	PROPN
aiti-4139	511	18	be	be	AUX
aiti-4139	511	19	the	the	DET
aiti-4139	511	20	leader	leader	NOUN
aiti-4139	511	21	’s	’s	PART
aiti-4139	511	22	reference	reference	NOUN
aiti-4139	511	23	input	input	NOUN
aiti-4139	511	24	and	and	CCONJ
aiti-4139	511	25	(	(	PUNCT
aiti-4139	511	26	)	)	PUNCT
aiti-4139	511	27	lx	lx	ADP
aiti-4139	511	28	t	t	PROPN
aiti-4139	511	29	be	be	AUX
aiti-4139	511	30	(	(	PUNCT
aiti-4139	511	31	)	)	PUNCT
aiti-4139	511	32	(	(	PUNCT
aiti-4139	511	33	)	)	PUNCT
aiti-4139	511	34	(	(	PUNCT
aiti-4139	511	35	)	)	PUNCT
aiti-4139	511	36	l	l	NOUN
aiti-4139	512	1	lx	lx	NOUN
aiti-4139	512	2	t	t	PROPN
aiti-4139	512	3	x	x	PUNCT
aiti-4139	512	4	t	t	NOUN
aiti-4139	512	5	r	r	NOUN
aiti-4139	512	6	t	t	PROPN
aiti-4139	512	7			NOUN
aiti-4139	512	8	.	.	PUNCT
aiti-4139	513	1	in	in	ADP
aiti-4139	513	2	this	this	DET
aiti-4139	513	3	example	example	NOUN
aiti-4139	513	4	,	,	PUNCT
aiti-4139	513	5	(	(	PUNCT
aiti-4139	513	6	)	)	PUNCT
aiti-4139	513	7	r	r	NOUN
aiti-4139	513	8	t	t	NOUN
aiti-4139	513	9	gives	give	VERB
aiti-4139	513	10	the	the	DET
aiti-4139	513	11	leader	leader	NOUN
aiti-4139	513	12	to	to	PART
aiti-4139	513	13	go	go	VERB
aiti-4139	513	14	around	around	ADP
aiti-4139	513	15	a	a	DET
aiti-4139	513	16	circle	circle	NOUN
aiti-4139	513	17	of	of	ADP
aiti-4139	513	18	radius	radius	NOUN
aiti-4139	513	19	3	3	NUM
aiti-4139	513	20	with	with	ADP
aiti-4139	513	21	20[s	20[s	NUM
aiti-4139	513	22	]	]	PUNCT
aiti-4139	513	23	.	.	PUNCT
aiti-4139	514	1	also	also	ADV
aiti-4139	514	2	,	,	PUNCT
aiti-4139	514	3	give	give	VERB
aiti-4139	514	4	2d	2d	NOUN
aiti-4139	514	5	and	and	CCONJ
aiti-4139	514	6	3d	3d	NUM
aiti-4139	514	7	are	be	AUX
aiti-4139	514	8	so	so	SCONJ
aiti-4139	514	9	that	that	SCONJ
aiti-4139	514	10	the	the	DET
aiti-4139	514	11	followers	follower	NOUN
aiti-4139	514	12	2	2	NUM
aiti-4139	514	13	and	and	CCONJ
aiti-4139	514	14	3	3	NUM
aiti-4139	514	15	leaves	leave	VERB
aiti-4139	514	16	the	the	DET
aiti-4139	514	17	leader	leader	NOUN
aiti-4139	514	18	by	by	ADP
aiti-4139	514	19	(	(	PUNCT
aiti-4139	514	20	2	2	NUM
aiti-4139	514	21	,	,	PUNCT
aiti-4139	514	22	2	2	NUM
aiti-4139	514	23	)	)	PUNCT
aiti-4139	514	24	and	and	CCONJ
aiti-4139	514	25	(	(	PUNCT
aiti-4139	514	26	-2	-2	INTJ
aiti-4139	514	27	,	,	PUNCT
aiti-4139	514	28	2	2	NUM
aiti-4139	514	29	)	)	PUNCT
aiti-4139	514	30	.	.	PUNCT
aiti-4139	515	1			NOUN
aiti-4139	516	1			PUNCT
aiti-4139	516	2			NOUN
aiti-4139	516	3			SYM
aiti-4139	516	4			NOUN
aiti-4139	516	5			PUNCT
aiti-4139	516	6			NOUN
aiti-4139	516	7			NOUN
aiti-4139	516	8	2	2	NUM
aiti-4139	516	9	3	3	NUM
aiti-4139	516	10	3cos	3cos	NUM
aiti-4139	516	11	0.1	0.1	NUM
aiti-4139	516	12	2	2	NUM
aiti-4139	516	13	2	2	NUM
aiti-4139	516	14	0.3sin	0.3sin	NOUN
aiti-4139	516	15	0.1	0.1	NUM
aiti-4139	516	16	0	0	NUM
aiti-4139	516	17	0	0	NUM
aiti-4139	516	18	(	(	PUNCT
aiti-4139	516	19	)	)	PUNCT
aiti-4139	516	20	,	,	PUNCT
aiti-4139	516	21	,	,	PUNCT
aiti-4139	516	22	2	2	NUM
aiti-4139	516	23	23sin	23sin	NOUN
aiti-4139	516	24	0.1	0.1	NUM
aiti-4139	516	25	0	0	NUM
aiti-4139	516	26	00.3cos	00.3co	NOUN
aiti-4139	516	27	0.1	0.1	NUM
aiti-4139	516	28	t	t	NOUN
aiti-4139	516	29	t	t	NOUN
aiti-4139	516	30	r	r	NOUN
aiti-4139	516	31	t	t	PROPN
aiti-4139	517	1	d	d	X
aiti-4139	517	2	d	d	PROPN
aiti-4139	517	3	t	t	PROPN
aiti-4139	517	4	t	t	X
aiti-4139	517	5			PROPN
aiti-4139	517	6			PROPN
aiti-4139	517	7			PROPN
aiti-4139	517	8			ADJ
aiti-4139	517	9			NOUN
aiti-4139	517	10			NOUN
aiti-4139	517	11			PROPN
aiti-4139	517	12			PROPN
aiti-4139	517	13			NOUN
aiti-4139	517	14			PROPN
aiti-4139	517	15			PROPN
aiti-4139	517	16			NOUN
aiti-4139	518	1			PROPN
aiti-4139	518	2			PROPN
aiti-4139	519	1			PROPN
aiti-4139	519	2			PROPN
aiti-4139	520	1			NUM
aiti-4139	520	2			NOUN
aiti-4139	520	3			PUNCT
aiti-4139	520	4			PROPN
aiti-4139	521	1			PROPN
aiti-4139	521	2			PROPN
aiti-4139	521	3			PROPN
aiti-4139	521	4			NOUN
aiti-4139	521	5			PROPN
aiti-4139	521	6			PROPN
aiti-4139	522	1			PROPN
aiti-4139	523	1			PROPN
aiti-4139	524	1			INTJ
aiti-4139	524	2			PROPN
aiti-4139	524	3			NOUN
aiti-4139	525	1			PROPN
aiti-4139	525	2			PROPN
aiti-4139	525	3			PROPN
aiti-4139	525	4			ADJ
aiti-4139	525	5			NOUN
aiti-4139	525	6			NOUN
aiti-4139	525	7	(	(	PUNCT
aiti-4139	525	8	57	57	NUM
aiti-4139	525	9	)	)	PUNCT
aiti-4139	525	10	additionally	additionally	ADV
aiti-4139	525	11	,	,	PUNCT
aiti-4139	525	12	2	2	NUM
aiti-4139	525	13	dm	dm	NUM
aiti-4139	525	14	and	and	CCONJ
aiti-4139	525	15	3	3	NUM
aiti-4139	525	16	dm	dm	NOUN
aiti-4139	525	17	are	be	AUX
aiti-4139	525	18	selected	select	VERB
aiti-4139	525	19	as	as	ADP
aiti-4139	525	20	2	2	NUM
aiti-4139	525	21	3	3	NUM
aiti-4139	525	22	6	6	NUM
aiti-4139	525	23	dm	dm	NOUN
aiti-4139	525	24	dm	dm	VERB
aiti-4139	525	25			PROPN
aiti-4139	525	26	.	.	PUNCT
aiti-4139	526	1	the	the	DET
aiti-4139	526	2	simulation	simulation	NOUN
aiti-4139	526	3	result	result	NOUN
aiti-4139	526	4	of	of	ADP
aiti-4139	526	5	this	this	DET
aiti-4139	526	6	numerical	numerical	ADJ
aiti-4139	526	7	example	example	NOUN
aiti-4139	526	8	is	be	AUX
aiti-4139	526	9	shown	show	VERB
aiti-4139	526	10	in	in	ADP
aiti-4139	526	11	figs	fig	NOUN
aiti-4139	526	12	.	.	PUNCT
aiti-4139	527	1	2	2	NUM
aiti-4139	527	2	7	7	NUM
aiti-4139	527	3	.	.	PUNCT
aiti-4139	528	1	in	in	ADP
aiti-4139	528	2	figs.2	figs.2	PROPN
aiti-4139	528	3	5	5	NUM
aiti-4139	528	4	,	,	PUNCT
aiti-4139	528	5	show	show	VERB
aiti-4139	528	6	the	the	DET
aiti-4139	528	7	state	state	NOUN
aiti-4139	528	8	trajectory	trajectory	NOUN
aiti-4139	528	9	of	of	ADP
aiti-4139	528	10	each	each	DET
aiti-4139	528	11	agent	agent	NOUN
aiti-4139	528	12	and	and	CCONJ
aiti-4139	528	13	the	the	DET
aiti-4139	528	14	shape	shape	NOUN
aiti-4139	528	15	of	of	ADP
aiti-4139	528	16	the	the	DET
aiti-4139	528	17	formation	formation	NOUN
aiti-4139	528	18	every	every	DET
aiti-4139	528	19	5[s	5[	NOUN
aiti-4139	528	20	]	]	PUNCT
aiti-4139	528	21	.	.	PUNCT
aiti-4139	529	1	figs.6	figs.6	PROPN
aiti-4139	529	2	and	and	CCONJ
aiti-4139	529	3	7	7	NUM
aiti-4139	529	4	show	show	VERB
aiti-4139	529	5	the	the	DET
aiti-4139	529	6	time	time	NOUN
aiti-4139	529	7	histories	history	NOUN
aiti-4139	529	8	of	of	ADP
aiti-4139	529	9	each	each	DET
aiti-4139	529	10	agent	agent	NOUN
aiti-4139	529	11	in	in	ADP
aiti-4139	529	12	the	the	DET
aiti-4139	529	13	x	x	PROPN
aiti-4139	529	14	and	and	CCONJ
aiti-4139	529	15	y	y	NOUN
aiti-4139	529	16	-	-	PUNCT
aiti-4139	529	17	axes	axis	NOUN
aiti-4139	529	18	,	,	PUNCT
aiti-4139	529	19	respectively	respectively	ADV
aiti-4139	529	20	.	.	PUNCT
aiti-4139	530	1	from	from	ADP
aiti-4139	530	2	figs.2	figs.2	PROPN
aiti-4139	530	3	-	-	PUNCT
aiti-4139	530	4	5	5	NUM
aiti-4139	530	5	,	,	PUNCT
aiti-4139	530	6	we	we	PRON
aiti-4139	530	7	can	can	AUX
aiti-4139	530	8	see	see	VERB
aiti-4139	530	9	that	that	SCONJ
aiti-4139	530	10	the	the	DET
aiti-4139	530	11	leader	leader	NOUN
aiti-4139	530	12	follows	follow	VERB
aiti-4139	530	13	the	the	DET
aiti-4139	530	14	given	give	VERB
aiti-4139	530	15	trajectory	trajectory	NOUN
aiti-4139	530	16	,	,	PUNCT
aiti-4139	530	17	and	and	CCONJ
aiti-4139	530	18	the	the	DET
aiti-4139	530	19	followers	follower	NOUN
aiti-4139	530	20	2	2	NUM
aiti-4139	530	21	and	and	CCONJ
aiti-4139	530	22	3	3	NUM
aiti-4139	530	23	follow	follow	VERB
aiti-4139	530	24	the	the	DET
aiti-4139	530	25	desired	desire	VERB
aiti-4139	530	26	relative	relative	ADJ
aiti-4139	530	27	position	position	NOUN
aiti-4139	530	28	.	.	PUNCT
aiti-4139	531	1	also	also	ADV
aiti-4139	531	2	,	,	PUNCT
aiti-4139	531	3	from	from	ADP
aiti-4139	531	4	fig.6	fig.6	PROPN
aiti-4139	531	5	and	and	CCONJ
aiti-4139	531	6	fig.7	fig.7	ADJ
aiti-4139	531	7	,	,	PUNCT
aiti-4139	531	8	looking	look	VERB
aiti-4139	531	9	at	at	ADP
aiti-4139	531	10	the	the	DET
aiti-4139	531	11	transition	transition	NOUN
aiti-4139	531	12	of	of	ADP
aiti-4139	531	13	the	the	DET
aiti-4139	531	14	position	position	NOUN
aiti-4139	531	15	coordinates	coordinate	NOUN
aiti-4139	531	16	of	of	ADP
aiti-4139	531	17	each	each	DET
aiti-4139	531	18	agent	agent	NOUN
aiti-4139	531	19	,	,	PUNCT
aiti-4139	531	20	it	it	PRON
aiti-4139	531	21	can	can	AUX
aiti-4139	531	22	be	be	AUX
aiti-4139	531	23	seen	see	VERB
aiti-4139	531	24	that	that	SCONJ
aiti-4139	531	25	the	the	DET
aiti-4139	531	26	follower	follower	NOUN
aiti-4139	531	27	moves	move	VERB
aiti-4139	531	28	away	away	ADV
aiti-4139	531	29	from	from	ADP
aiti-4139	531	30	the	the	DET
aiti-4139	531	31	leader	leader	NOUN
aiti-4139	531	32	's	's	PART
aiti-4139	531	33	movement	movement	NOUN
aiti-4139	531	34	locus	locus	NOUN
aiti-4139	531	35	by	by	ADP
aiti-4139	531	36	the	the	DET
aiti-4139	531	37	desired	desire	VERB
aiti-4139	531	38	position	position	NOUN
aiti-4139	531	39	as	as	ADP
aiti-4139	531	40	time	time	NOUN
aiti-4139	531	41	passes	pass	NOUN
aiti-4139	531	42	.	.	PUNCT
aiti-4139	532	1	namely	namely	ADV
aiti-4139	532	2	,	,	PUNCT
aiti-4139	532	3	it	it	PRON
aiti-4139	532	4	can	can	AUX
aiti-4139	532	5	be	be	AUX
aiti-4139	532	6	said	say	VERB
aiti-4139	532	7	that	that	SCONJ
aiti-4139	532	8	the	the	DET
aiti-4139	532	9	proposed	propose	VERB
aiti-4139	532	10	formation	formation	NOUN
aiti-4139	532	11	control	control	NOUN
aiti-4139	532	12	system	system	NOUN
aiti-4139	532	13	has	have	AUX
aiti-4139	532	14	been	be	AUX
aiti-4139	532	15	designed	design	VERB
aiti-4139	532	16	,	,	PUNCT
aiti-4139	532	17	and	and	CCONJ
aiti-4139	532	18	thus	thus	ADV
aiti-4139	532	19	we	we	PRON
aiti-4139	532	20	have	have	AUX
aiti-4139	532	21	shown	show	VERB
aiti-4139	532	22	the	the	DET
aiti-4139	532	23	effectiveness	effectiveness	NOUN
aiti-4139	532	24	of	of	ADP
aiti-4139	532	25	the	the	DET
aiti-4139	532	26	proposed	propose	VERB
aiti-4139	532	27	formation	formation	NOUN
aiti-4139	532	28	control	control	NOUN
aiti-4139	532	29	systems	system	NOUN
aiti-4139	532	30	.	.	PUNCT
aiti-4139	533	1	advances	advance	NOUN
aiti-4139	533	2	technology	technology	NOUN
aiti-4139	533	3	innovation	innovation	NOUN
aiti-4139	533	4	,	,	PUNCT
aiti-4139	533	5	vol	vol	NOUN
aiti-4139	533	6	.	.	PROPN
aiti-4139	533	7	4	4	NUM
aiti-4139	533	8	,	,	PUNCT
aiti-4139	533	9	no	no	INTJ
aiti-4139	533	10	.	.	NOUN
aiti-4139	533	11	4	4	NUM
aiti-4139	533	12	,	,	PUNCT
aiti-4139	533	13	2019	2019	NUM
aiti-4139	533	14	,	,	PUNCT
aiti-4139	533	15	pp	pp	ADJ
aiti-4139	533	16	.	.	PUNCT
aiti-4139	534	1	234	234	NUM
aiti-4139	534	2	-	-	SYM
aiti-4139	534	3	246	246	NUM
aiti-4139	534	4	244	244	NUM
aiti-4139	534	5	fig	fig	NOUN
aiti-4139	534	6	.	.	PUNCT
aiti-4139	535	1	2	2	NUM
aiti-4139	535	2	movement	movement	NOUN
aiti-4139	535	3	of	of	ADP
aiti-4139	535	4	each	each	DET
aiti-4139	535	5	agent	agent	NOUN
aiti-4139	535	6	in	in	ADP
aiti-4139	535	7	0[s	0[s	NUM
aiti-4139	535	8	]	]	PUNCT
aiti-4139	535	9	fig	fig	NOUN
aiti-4139	535	10	.	.	PUNCT
aiti-4139	536	1	3	3	NUM
aiti-4139	536	2	movement	movement	NOUN
aiti-4139	536	3	of	of	ADP
aiti-4139	536	4	each	each	DET
aiti-4139	536	5	agent	agent	NOUN
aiti-4139	536	6	in	in	ADP
aiti-4139	536	7	10[s	10[s	NUM
aiti-4139	536	8	]	]	PUNCT
aiti-4139	536	9	fig	fig	NOUN
aiti-4139	536	10	.	.	PUNCT
aiti-4139	537	1	4	4	NUM
aiti-4139	537	2	movement	movement	NOUN
aiti-4139	537	3	of	of	ADP
aiti-4139	537	4	each	each	DET
aiti-4139	537	5	agent	agent	NOUN
aiti-4139	537	6	in	in	ADP
aiti-4139	537	7	20[s	20[s	NUM
aiti-4139	537	8	]	]	PUNCT
aiti-4139	537	9	fig	fig	NOUN
aiti-4139	537	10	.	.	PUNCT
aiti-4139	538	1	5	5	NUM
aiti-4139	538	2	movement	movement	NOUN
aiti-4139	538	3	of	of	ADP
aiti-4139	538	4	each	each	DET
aiti-4139	538	5	agent	agent	NOUN
aiti-4139	538	6	in	in	ADP
aiti-4139	538	7	40[s	40[s	NUM
aiti-4139	538	8	]	]	PUNCT
aiti-4139	538	9	fig.6	fig.6	PROPN
aiti-4139	538	10	time	time	NOUN
aiti-4139	538	11	histories	history	NOUN
aiti-4139	538	12	of	of	ADP
aiti-4139	538	13	xix	xix	PROPN
aiti-4139	538	14	(	(	PUNCT
aiti-4139	538	15	t	t	PROPN
aiti-4139	538	16	)	)	PUNCT
aiti-4139	538	17	fig.7	fig.7	ADJ
aiti-4139	538	18	time	time	NOUN
aiti-4139	538	19	histories	history	NOUN
aiti-4139	538	20	of	of	ADP
aiti-4139	538	21	yix	yix	PROPN
aiti-4139	538	22	(	(	PUNCT
aiti-4139	538	23	t	t	PROPN
aiti-4139	538	24	)	)	PUNCT
aiti-4139	538	25	6	6	NUM
aiti-4139	538	26	.	.	PUNCT
aiti-4139	539	1	conclusions	conclusion	NOUN
aiti-4139	539	2	in	in	ADP
aiti-4139	539	3	this	this	DET
aiti-4139	539	4	paper	paper	NOUN
aiti-4139	539	5	,	,	PUNCT
aiti-4139	539	6	we	we	PRON
aiti-4139	539	7	present	present	VERB
aiti-4139	539	8	a	a	DET
aiti-4139	539	9	design	design	NOUN
aiti-4139	539	10	method	method	NOUN
aiti-4139	539	11	of	of	ADP
aiti-4139	539	12	an	an	DET
aiti-4139	539	13	adaptive	adaptive	ADJ
aiti-4139	539	14	gain	gain	NOUN
aiti-4139	539	15	controller	controller	NOUN
aiti-4139	539	16	considering	consider	VERB
aiti-4139	539	17	relative	relative	ADJ
aiti-4139	539	18	distances	distance	NOUN
aiti-4139	539	19	between	between	ADP
aiti-4139	539	20	agents	agent	NOUN
aiti-4139	539	21	for	for	ADP
aiti-4139	539	22	mass	mass	NOUN
aiti-4139	539	23	with	with	ADP
aiti-4139	539	24	leader	leader	NOUN
aiti-4139	539	25	-	-	PUNCT
aiti-4139	539	26	follower	follower	NOUN
aiti-4139	539	27	structure	structure	NOUN
aiti-4139	539	28	.	.	PUNCT
aiti-4139	540	1	the	the	DET
aiti-4139	540	2	proposed	propose	VERB
aiti-4139	540	3	adaptive	adaptive	ADJ
aiti-4139	540	4	gain	gain	NOUN
aiti-4139	540	5	controller	controller	NOUN
aiti-4139	540	6	consists	consist	VERB
aiti-4139	540	7	of	of	ADP
aiti-4139	540	8	the	the	DET
aiti-4139	540	9	state	state	NOUN
aiti-4139	540	10	feedback	feedback	NOUN
aiti-4139	540	11	laws	law	NOUN
aiti-4139	540	12	with	with	ADP
aiti-4139	540	13	fixed	fix	VERB
aiti-4139	540	14	gains	gain	NOUN
aiti-4139	540	15	and	and	CCONJ
aiti-4139	540	16	compensation	compensation	NOUN
aiti-4139	540	17	input	input	NOUN
aiti-4139	540	18	with	with	ADP
aiti-4139	540	19	adaptive	adaptive	ADJ
aiti-4139	540	20	gains	gain	NOUN
aiti-4139	540	21	which	which	PRON
aiti-4139	540	22	are	be	AUX
aiti-4139	540	23	adjusted	adjust	VERB
aiti-4139	540	24	by	by	ADP
aiti-4139	540	25	updating	update	VERB
aiti-4139	540	26	rules	rule	NOUN
aiti-4139	540	27	.	.	PUNCT
aiti-4139	541	1	we	we	PRON
aiti-4139	541	2	have	have	AUX
aiti-4139	541	3	shown	show	VERB
aiti-4139	541	4	that	that	SCONJ
aiti-4139	541	5	the	the	DET
aiti-4139	541	6	sufficient	sufficient	ADJ
aiti-4139	541	7	conditions	condition	NOUN
aiti-4139	541	8	for	for	ADP
aiti-4139	541	9	the	the	DET
aiti-4139	541	10	existence	existence	NOUN
aiti-4139	541	11	of	of	ADP
aiti-4139	541	12	the	the	DET
aiti-4139	541	13	proposed	propose	VERB
aiti-4139	541	14	adaptive	adaptive	ADJ
aiti-4139	541	15	gain	gain	NOUN
aiti-4139	541	16	controller	controller	NOUN
aiti-4139	541	17	are	be	AUX
aiti-4139	541	18	reduced	reduce	VERB
aiti-4139	541	19	to	to	ADP
aiti-4139	541	20	the	the	DET
aiti-4139	541	21	solvability	solvability	NOUN
aiti-4139	541	22	of	of	ADP
aiti-4139	541	23	lmi	lmi	PROPN
aiti-4139	541	24	,	,	PUNCT
aiti-4139	541	25	i.e.	i.e.	X
aiti-4139	541	26	the	the	DET
aiti-4139	541	27	proposed	propose	VERB
aiti-4139	541	28	controller	controller	NOUN
aiti-4139	541	29	can	can	AUX
aiti-4139	541	30	be	be	AUX
aiti-4139	541	31	designed	design	VERB
aiti-4139	541	32	by	by	ADP
aiti-4139	541	33	using	use	VERB
aiti-4139	541	34	software	software	NOUN
aiti-4139	541	35	such	such	ADJ
aiti-4139	541	36	as	as	ADP
aiti-4139	541	37	matlab	matlab	PROPN
aiti-4139	541	38	’s	’s	PART
aiti-4139	541	39	lmi	lmi	PROPN
aiti-4139	541	40	control	control	PROPN
aiti-4139	541	41	toolbox	toolbox	PROPN
aiti-4139	541	42	,	,	PUNCT
aiti-4139	541	43	scilab	scilab	PROPN
aiti-4139	541	44	’s	’s	PART
aiti-4139	541	45	lmitool	lmitool	NOUN
aiti-4139	541	46	and	and	CCONJ
aiti-4139	541	47	so	so	ADV
aiti-4139	541	48	on	on	ADV
aiti-4139	541	49	.	.	PUNCT
aiti-4139	542	1	in	in	ADP
aiti-4139	542	2	the	the	DET
aiti-4139	542	3	proposed	propose	VERB
aiti-4139	542	4	control	control	NOUN
aiti-4139	542	5	strategy	strategy	NOUN
aiti-4139	542	6	,	,	PUNCT
aiti-4139	542	7	there	there	PRON
aiti-4139	542	8	is	be	VERB
aiti-4139	542	9	no	no	DET
aiti-4139	542	10	need	need	NOUN
aiti-4139	542	11	the	the	DET
aiti-4139	542	12	information	information	NOUN
aiti-4139	542	13	on	on	ADP
aiti-4139	542	14	the	the	DET
aiti-4139	542	15	target	target	NOUN
aiti-4139	542	16	value	value	NOUN
aiti-4139	542	17	of	of	ADP
aiti-4139	542	18	the	the	DET
aiti-4139	542	19	other	other	ADJ
aiti-4139	542	20	followers	follower	NOUN
aiti-4139	542	21	and	and	CCONJ
aiti-4139	542	22	the	the	DET
aiti-4139	542	23	information	information	NOUN
aiti-4139	542	24	about	about	ADP
aiti-4139	542	25	the	the	DET
aiti-4139	542	26	upper	upper	ADJ
aiti-4139	542	27	bound	bind	VERB
aiti-4139	542	28	on	on	ADP
aiti-4139	542	29	relative	relative	ADJ
aiti-4139	542	30	positions	position	NOUN
aiti-4139	542	31	is	be	AUX
aiti-4139	542	32	only	only	ADV
aiti-4139	542	33	required	require	VERB
aiti-4139	542	34	.	.	PUNCT
aiti-4139	543	1	furthermore	furthermore	ADV
aiti-4139	543	2	,	,	PUNCT
aiti-4139	543	3	the	the	DET
aiti-4139	543	4	effectiveness	effectiveness	NOUN
aiti-4139	543	5	of	of	ADP
aiti-4139	543	6	the	the	DET
aiti-4139	543	7	proposed	propose	VERB
aiti-4139	543	8	formation	formation	NOUN
aiti-4139	543	9	control	control	NOUN
aiti-4139	543	10	system	system	NOUN
aiti-4139	543	11	has	have	AUX
aiti-4139	543	12	been	be	AUX
aiti-4139	543	13	shown	show	VERB
aiti-4139	543	14	through	through	ADP
aiti-4139	543	15	a	a	DET
aiti-4139	543	16	simple	simple	ADJ
aiti-4139	543	17	numerical	numerical	ADJ
aiti-4139	543	18	example	example	NOUN
aiti-4139	543	19	.	.	PUNCT
aiti-4139	544	1	advances	advance	NOUN
aiti-4139	544	2	technology	technology	NOUN
aiti-4139	544	3	innovation	innovation	NOUN
aiti-4139	544	4	,	,	PUNCT
aiti-4139	544	5	vol	vol	NOUN
aiti-4139	544	6	.	.	PROPN
aiti-4139	544	7	4	4	NUM
aiti-4139	544	8	,	,	PUNCT
aiti-4139	544	9	no	no	INTJ
aiti-4139	544	10	.	.	NOUN
aiti-4139	544	11	4	4	NUM
aiti-4139	544	12	,	,	PUNCT
aiti-4139	544	13	2019	2019	NUM
aiti-4139	544	14	,	,	PUNCT
aiti-4139	544	15	pp	pp	ADJ
aiti-4139	544	16	.	.	PUNCT
aiti-4139	545	1	234	234	NUM
aiti-4139	545	2	-	-	SYM
aiti-4139	545	3	246	246	NUM
aiti-4139	545	4	245	245	NUM
aiti-4139	545	5	the	the	DET
aiti-4139	545	6	future	future	ADJ
aiti-4139	545	7	research	research	NOUN
aiti-4139	545	8	subjects	subject	NOUN
aiti-4139	545	9	are	be	AUX
aiti-4139	545	10	an	an	DET
aiti-4139	545	11	extension	extension	NOUN
aiti-4139	545	12	of	of	ADP
aiti-4139	545	13	the	the	DET
aiti-4139	545	14	proposed	propose	VERB
aiti-4139	545	15	design	design	NOUN
aiti-4139	545	16	to	to	ADP
aiti-4139	545	17	such	such	DET
aiti-4139	545	18	a	a	DET
aiti-4139	545	19	broad	broad	ADJ
aiti-4139	545	20	class	class	NOUN
aiti-4139	545	21	of	of	ADP
aiti-4139	545	22	systems	system	NOUN
aiti-4139	545	23	as	as	ADP
aiti-4139	545	24	discrete	discrete	ADJ
aiti-4139	545	25	-	-	PUNCT
aiti-4139	545	26	time	time	NOUN
aiti-4139	545	27	systems	system	NOUN
aiti-4139	545	28	and	and	CCONJ
aiti-4139	545	29	output	output	NOUN
aiti-4139	545	30	feedback	feedback	NOUN
aiti-4139	545	31	systems	system	NOUN
aiti-4139	545	32	.	.	PUNCT
aiti-4139	546	1	moreover	moreover	ADV
aiti-4139	546	2	,	,	PUNCT
aiti-4139	546	3	for	for	ADP
aiti-4139	546	4	the	the	DET
aiti-4139	546	5	proposed	propose	VERB
aiti-4139	546	6	adaptive	adaptive	ADJ
aiti-4139	546	7	gain	gain	NOUN
aiti-4139	546	8	controller	controller	NOUN
aiti-4139	546	9	,	,	PUNCT
aiti-4139	546	10	improvement	improvement	NOUN
aiti-4139	546	11	of	of	ADP
aiti-4139	546	12	transient	transient	ADJ
aiti-4139	546	13	performance	performance	NOUN
aiti-4139	546	14	and	and	CCONJ
aiti-4139	546	15	guaranteeing	guarantee	VERB
aiti-4139	546	16	disturbance	disturbance	NOUN
aiti-4139	546	17	attenuation	attenuation	NOUN
aiti-4139	546	18	level	level	NOUN
aiti-4139	546	19	are	be	AUX
aiti-4139	546	20	our	our	PRON
aiti-4139	546	21	important	important	ADJ
aiti-4139	546	22	future	future	ADJ
aiti-4139	546	23	research	research	NOUN
aiti-4139	546	24	subjects	subject	NOUN
aiti-4139	546	25	.	.	PUNCT
aiti-4139	547	1	additionally	additionally	ADV
aiti-4139	547	2	,	,	PUNCT
aiti-4139	547	3	we	we	PRON
aiti-4139	547	4	will	will	AUX
aiti-4139	547	5	study	study	VERB
aiti-4139	547	6	the	the	DET
aiti-4139	547	7	conservativeness	conservativeness	NOUN
aiti-4139	547	8	of	of	ADP
aiti-4139	547	9	the	the	DET
aiti-4139	547	10	proposed	propose	VERB
aiti-4139	547	11	controller	controller	NOUN
aiti-4139	547	12	design	design	VERB
aiti-4139	547	13	and	and	CCONJ
aiti-4139	547	14	extend	extend	VERB
aiti-4139	547	15	the	the	DET
aiti-4139	547	16	proposed	propose	VERB
aiti-4139	547	17	controller	controller	NOUN
aiti-4139	547	18	synthesis	synthesis	NOUN
aiti-4139	547	19	to	to	ADP
aiti-4139	547	20	such	such	DET
aiti-4139	547	21	a	a	DET
aiti-4139	547	22	broad	broad	ADJ
aiti-4139	547	23	class	class	NOUN
aiti-4139	547	24	of	of	ADP
aiti-4139	547	25	control	control	NOUN
aiti-4139	547	26	systems	system	NOUN
aiti-4139	547	27	as	as	ADP
aiti-4139	547	28	a	a	DET
aiti-4139	547	29	formation	formation	NOUN
aiti-4139	547	30	for	for	ADP
aiti-4139	547	31	mass	mass	NOUN
aiti-4139	547	32	consisting	consist	VERB
aiti-4139	547	33	of	of	ADP
aiti-4139	547	34	more	more	ADJ
aiti-4139	547	35	general	general	ADJ
aiti-4139	547	36	agent	agent	NOUN
aiti-4139	547	37	’s	’s	PART
aiti-4139	547	38	dynamics	dynamic	NOUN
aiti-4139	547	39	with	with	ADP
aiti-4139	547	40	uncertainties	uncertainty	NOUN
aiti-4139	547	41	and	and	CCONJ
aiti-4139	547	42	consensus	consensus	NOUN
aiti-4139	547	43	via	via	ADP
aiti-4139	547	44	output	output	NOUN
aiti-4139	547	45	feedback	feedback	NOUN
aiti-4139	547	46	controllers	controller	NOUN
aiti-4139	547	47	.	.	PUNCT
aiti-4139	548	1	conflicts	conflict	NOUN
aiti-4139	548	2	of	of	ADP
aiti-4139	548	3	interest	interest	NOUN
aiti-4139	548	4	the	the	DET
aiti-4139	548	5	authors	author	NOUN
aiti-4139	548	6	declare	declare	VERB
aiti-4139	548	7	no	no	DET
aiti-4139	548	8	conflict	conflict	NOUN
aiti-4139	548	9	of	of	ADP
aiti-4139	548	10	interest	interest	NOUN
aiti-4139	548	11	.	.	PUNCT
aiti-4139	549	1	references	reference	NOUN
aiti-4139	549	2	[	[	X
aiti-4139	549	3	1	1	NUM
aiti-4139	549	4	]	]	PUNCT
aiti-4139	549	5	m.	m.	NOUN
aiti-4139	549	6	norton	norton	PROPN
aiti-4139	549	7	,	,	PUNCT
aiti-4139	549	8	modern	modern	ADJ
aiti-4139	549	9	control	control	NOUN
aiti-4139	549	10	engineering	engineering	PROPN
aiti-4139	549	11	,	,	PUNCT
aiti-4139	549	12	pergamon	pergamon	PROPN
aiti-4139	549	13	press	press	PROPN
aiti-4139	549	14	,	,	PUNCT
aiti-4139	549	15	1972	1972	NUM
aiti-4139	549	16	.	.	PUNCT
aiti-4139	550	1	[	[	X
aiti-4139	550	2	2	2	NUM
aiti-4139	550	3	]	]	X
aiti-4139	550	4	b.	b.	PROPN
aiti-4139	550	5	d.	d.	PROPN
aiti-4139	550	6	o.	o.	PROPN
aiti-4139	550	7	anderson	anderson	PROPN
aiti-4139	550	8	and	and	CCONJ
aiti-4139	550	9	j.	j.	PROPN
aiti-4139	550	10	b.	b.	PROPN
aiti-4139	550	11	moore	moore	PROPN
aiti-4139	550	12	,	,	PUNCT
aiti-4139	550	13	optimal	optimal	ADJ
aiti-4139	550	14	control	control	NOUN
aiti-4139	550	15	–	–	PUNCT
aiti-4139	550	16	linear	linear	ADJ
aiti-4139	550	17	quadratic	quadratic	ADJ
aiti-4139	550	18	method	method	NOUN
aiti-4139	550	19	–	–	PUNCT
aiti-4139	550	20	,	,	PUNCT
aiti-4139	550	21	prentice	prentice	NOUN
aiti-4139	550	22	hall	hall	PROPN
aiti-4139	550	23	,	,	PUNCT
aiti-4139	550	24	new	new	PROPN
aiti-4139	550	25	jersey	jersey	PROPN
aiti-4139	550	26	,	,	PUNCT
aiti-4139	550	27	1990	1990	NUM
aiti-4139	550	28	.	.	PUNCT
aiti-4139	551	1	[	[	X
aiti-4139	551	2	3	3	X
aiti-4139	551	3	]	]	PUNCT
aiti-4139	551	4	k.	k.	PROPN
aiti-4139	551	5	zhou	zhou	PROPN
aiti-4139	551	6	,	,	PUNCT
aiti-4139	551	7	essentials	essential	NOUN
aiti-4139	551	8	of	of	ADP
aiti-4139	551	9	robust	robust	ADJ
aiti-4139	551	10	control	control	NOUN
aiti-4139	551	11	,	,	PUNCT
aiti-4139	551	12	prentice	prentice	NOUN
aiti-4139	551	13	hall	hall	NOUN
aiti-4139	551	14	,	,	PUNCT
aiti-4139	551	15	1998	1998	NUM
aiti-4139	551	16	.	.	PUNCT
aiti-4139	552	1	[	[	X
aiti-4139	552	2	4	4	X
aiti-4139	552	3	]	]	X
aiti-4139	552	4	b.	b.	PROPN
aiti-4139	552	5	r.	r.	PROPN
aiti-4139	552	6	barmish	barmish	PROPN
aiti-4139	552	7	,	,	PUNCT
aiti-4139	552	8	“	"	PUNCT
aiti-4139	552	9	stabilization	stabilization	NOUN
aiti-4139	552	10	of	of	ADP
aiti-4139	552	11	uncertain	uncertain	ADJ
aiti-4139	552	12	systems	system	NOUN
aiti-4139	552	13	via	via	ADP
aiti-4139	552	14	linear	linear	PROPN
aiti-4139	552	15	control	control	NOUN
aiti-4139	552	16	,	,	PUNCT
aiti-4139	552	17	”	"	PUNCT
aiti-4139	552	18	ieee	ieee	NOUN
aiti-4139	552	19	trans	trans	PROPN
aiti-4139	552	20	.	.	PROPN
aiti-4139	552	21	automat	automat	PROPN
aiti-4139	552	22	.	.	PUNCT
aiti-4139	552	23	contr	contr	PROPN
aiti-4139	552	24	.	.	PROPN
aiti-4139	552	25	,	,	PUNCT
aiti-4139	552	26	vol	vol	NOUN
aiti-4139	552	27	.	.	PROPN
aiti-4139	552	28	28	28	NUM
aiti-4139	552	29	,	,	PUNCT
aiti-4139	552	30	no	no	INTJ
aiti-4139	552	31	.	.	NOUN
aiti-4139	552	32	8	8	NUM
aiti-4139	552	33	,	,	PUNCT
aiti-4139	552	34	pp	pp	ADJ
aiti-4139	552	35	.	.	PUNCT
aiti-4139	553	1	848	848	NUM
aiti-4139	553	2	-	-	SYM
aiti-4139	553	3	850	850	NUM
aiti-4139	553	4	,	,	PUNCT
aiti-4139	553	5	august	august	PROPN
aiti-4139	553	6	1983	1983	NUM
aiti-4139	553	7	.	.	PUNCT
aiti-4139	554	1	[	[	X
aiti-4139	554	2	5	5	NUM
aiti-4139	554	3	]	]	X
aiti-4139	554	4	i.	i.	PROPN
aiti-4139	554	5	r.	r.	PROPN
aiti-4139	554	6	petersen	petersen	PROPN
aiti-4139	554	7	and	and	CCONJ
aiti-4139	554	8	c.	c.	PROPN
aiti-4139	554	9	c.	c.	PROPN
aiti-4139	554	10	hollot	hollot	PROPN
aiti-4139	554	11	,	,	PUNCT
aiti-4139	554	12	“	"	PUNCT
aiti-4139	554	13	a	a	DET
aiti-4139	554	14	riccati	riccati	NOUN
aiti-4139	554	15	equation	equation	NOUN
aiti-4139	554	16	approach	approach	NOUN
aiti-4139	554	17	to	to	ADP
aiti-4139	554	18	the	the	DET
aiti-4139	554	19	stabilization	stabilization	NOUN
aiti-4139	554	20	of	of	ADP
aiti-4139	554	21	uncertain	uncertain	ADJ
aiti-4139	554	22	linear	linear	NOUN
aiti-4139	554	23	systems	system	NOUN
aiti-4139	554	24	,	,	PUNCT
aiti-4139	554	25	”	"	PUNCT
aiti-4139	554	26	automatica	automatica	PROPN
aiti-4139	554	27	,	,	PUNCT
aiti-4139	554	28	vol	vol	NOUN
aiti-4139	554	29	.	.	PROPN
aiti-4139	555	1	22	22	NUM
aiti-4139	555	2	,	,	PUNCT
aiti-4139	555	3	no	no	INTJ
aiti-4139	555	4	.	.	NOUN
aiti-4139	555	5	4	4	NUM
aiti-4139	555	6	,	,	PUNCT
aiti-4139	555	7	pp	pp	ADJ
aiti-4139	555	8	.	.	PUNCT
aiti-4139	556	1	397	397	NUM
aiti-4139	556	2	-	-	SYM
aiti-4139	556	3	411	411	NUM
aiti-4139	556	4	,	,	PUNCT
aiti-4139	556	5	july	july	PROPN
aiti-4139	556	6	1986	1986	NUM
aiti-4139	556	7	.	.	PUNCT
aiti-4139	557	1	[	[	X
aiti-4139	557	2	6	6	NUM
aiti-4139	557	3	]	]	PUNCT
aiti-4139	557	4	k.	k.	PROPN
aiti-4139	557	5	hagino	hagino	PROPN
aiti-4139	557	6	and	and	CCONJ
aiti-4139	557	7	h.	h.	PROPN
aiti-4139	557	8	komoriya	komoriya	PROPN
aiti-4139	557	9	,	,	PUNCT
aiti-4139	557	10	“	"	PUNCT
aiti-4139	557	11	a	a	DET
aiti-4139	557	12	design	design	NOUN
aiti-4139	557	13	method	method	NOUN
aiti-4139	557	14	of	of	ADP
aiti-4139	557	15	robust	robust	ADJ
aiti-4139	557	16	control	control	NOUN
aiti-4139	557	17	for	for	ADP
aiti-4139	557	18	linear	linear	PROPN
aiti-4139	557	19	systems	system	NOUN
aiti-4139	557	20	,	,	PUNCT
aiti-4139	557	21	”	"	PUNCT
aiti-4139	557	22	ieice	ieice	NOUN
aiti-4139	557	23	trans	tran	NOUN
aiti-4139	557	24	.	.	PUNCT
aiti-4139	558	1	fundamentals	fundamental	NOUN
aiti-4139	558	2	,	,	PUNCT
aiti-4139	558	3	vol	vol	NOUN
aiti-4139	558	4	.	.	PUNCT
aiti-4139	558	5	j72	j72	PROPN
aiti-4139	558	6	-	-	PUNCT
aiti-4139	558	7	a	a	NOUN
aiti-4139	558	8	,	,	PUNCT
aiti-4139	558	9	no	no	INTJ
aiti-4139	558	10	.	.	NOUN
aiti-4139	558	11	5	5	NUM
aiti-4139	558	12	,	,	PUNCT
aiti-4139	558	13	pp	pp	ADJ
aiti-4139	558	14	.	.	PUNCT
aiti-4139	559	1	865	865	NUM
aiti-4139	559	2	-	-	SYM
aiti-4139	559	3	868	868	NUM
aiti-4139	559	4	,	,	PUNCT
aiti-4139	559	5	may	may	PROPN
aiti-4139	559	6	1989	1989	NUM
aiti-4139	559	7	.	.	PUNCT
aiti-4139	560	1	(	(	PUNCT
aiti-4139	560	2	in	in	ADP
aiti-4139	560	3	japanese	japanese	PROPN
aiti-4139	560	4	)	)	PUNCT
aiti-4139	561	1	[	[	X
aiti-4139	561	2	7	7	NUM
aiti-4139	561	3	]	]	X
aiti-4139	561	4	p.p	p.p	PROPN
aiti-4139	561	5	.	.	PROPN
aiti-4139	561	6	khargonekar	khargonekar	PROPN
aiti-4139	561	7	,	,	PUNCT
aiti-4139	561	8	i.r	i.r	PROPN
aiti-4139	561	9	.	.	PROPN
aiti-4139	561	10	petersen	petersen	PROPN
aiti-4139	561	11	and	and	CCONJ
aiti-4139	561	12	k.	k.	PROPN
aiti-4139	561	13	zhou	zhou	PROPN
aiti-4139	561	14	,	,	PUNCT
aiti-4139	561	15	“	"	PUNCT
aiti-4139	561	16	robust	robust	ADJ
aiti-4139	561	17	stabilization	stabilization	NOUN
aiti-4139	561	18	of	of	ADP
aiti-4139	561	19	uncertain	uncertain	ADJ
aiti-4139	561	20	linear	linear	ADJ
aiti-4139	561	21	systems	system	NOUN
aiti-4139	561	22	:	:	PUNCT
aiti-4139	561	23	quadratic	quadratic	ADJ
aiti-4139	561	24	stabilizability	stabilizability	NOUN
aiti-4139	561	25	and	and	CCONJ
aiti-4139	561	26	control	control	NOUN
aiti-4139	561	27	theory	theory	NOUN
aiti-4139	561	28	,	,	PUNCT
aiti-4139	561	29	”	"	PUNCT
aiti-4139	561	30	ieee	ieee	NOUN
aiti-4139	561	31	trans	trans	PROPN
aiti-4139	561	32	.	.	PROPN
aiti-4139	561	33	automat	automat	PROPN
aiti-4139	561	34	.	.	PUNCT
aiti-4139	561	35	contr	contr	PROPN
aiti-4139	561	36	.	.	PROPN
aiti-4139	561	37	,	,	PUNCT
aiti-4139	561	38	vol	vol	NOUN
aiti-4139	561	39	.	.	PROPN
aiti-4139	561	40	35	35	NUM
aiti-4139	561	41	,	,	PUNCT
aiti-4139	561	42	no	no	INTJ
aiti-4139	561	43	.	.	NOUN
aiti-4139	561	44	3	3	NUM
aiti-4139	561	45	,	,	PUNCT
aiti-4139	561	46	pp	pp	ADJ
aiti-4139	561	47	.	.	PUNCT
aiti-4139	562	1	356	356	NUM
aiti-4139	562	2	-	-	SYM
aiti-4139	562	3	361	361	NUM
aiti-4139	562	4	,	,	PUNCT
aiti-4139	562	5	march	march	PROPN
aiti-4139	562	6	1990	1990	NUM
aiti-4139	562	7	.	.	PUNCT
aiti-4139	563	1	[	[	X
aiti-4139	563	2	8	8	NUM
aiti-4139	563	3	]	]	X
aiti-4139	563	4	i.	i.	PROPN
aiti-4139	563	5	r.	r.	PROPN
aiti-4139	563	6	petersen	petersen	PROPN
aiti-4139	563	7	and	and	CCONJ
aiti-4139	563	8	d.	d.	PROPN
aiti-4139	563	9	c.	c.	PROPN
aiti-4139	563	10	mcfarlane	mcfarlane	PROPN
aiti-4139	563	11	,	,	PUNCT
aiti-4139	563	12	“	"	PUNCT
aiti-4139	563	13	optimal	optimal	ADJ
aiti-4139	563	14	guaranteed	guarantee	VERB
aiti-4139	563	15	cost	cost	NOUN
aiti-4139	563	16	control	control	NOUN
aiti-4139	563	17	and	and	CCONJ
aiti-4139	563	18	filtering	filter	VERB
aiti-4139	563	19	for	for	ADP
aiti-4139	563	20	uncertain	uncertain	ADJ
aiti-4139	563	21	linear	linear	NOUN
aiti-4139	563	22	systems	system	NOUN
aiti-4139	563	23	,	,	PUNCT
aiti-4139	563	24	”	"	PUNCT
aiti-4139	563	25	ieee	ieee	NOUN
aiti-4139	563	26	trans	trans	PROPN
aiti-4139	563	27	.	.	PROPN
aiti-4139	563	28	automat	automat	PROPN
aiti-4139	563	29	.	.	PUNCT
aiti-4139	563	30	contr	contr	PROPN
aiti-4139	563	31	.	.	PUNCT
aiti-4139	563	32	,	,	PUNCT
aiti-4139	563	33	vol	vol	NOUN
aiti-4139	563	34	.	.	PROPN
aiti-4139	563	35	39	39	NUM
aiti-4139	563	36	,	,	PUNCT
aiti-4139	563	37	no	no	INTJ
aiti-4139	563	38	.	.	NOUN
aiti-4139	563	39	9	9	NUM
aiti-4139	563	40	,	,	PUNCT
aiti-4139	563	41	pp	pp	ADJ
aiti-4139	563	42	.	.	PUNCT
aiti-4139	564	1	1971	1971	NUM
aiti-4139	564	2	-	-	SYM
aiti-4139	564	3	1977	1977	NUM
aiti-4139	564	4	,	,	PUNCT
aiti-4139	564	5	september	september	PROPN
aiti-4139	564	6	1994	1994	NUM
aiti-4139	564	7	.	.	PUNCT
aiti-4139	565	1	[	[	X
aiti-4139	565	2	9	9	NUM
aiti-4139	565	3	]	]	PUNCT
aiti-4139	565	4	s.	s.	PROPN
aiti-4139	565	5	yamamoto	yamamoto	PROPN
aiti-4139	565	6	and	and	CCONJ
aiti-4139	565	7	k.	k.	PROPN
aiti-4139	565	8	yamauchi	yamauchi	PROPN
aiti-4139	565	9	,	,	PUNCT
aiti-4139	565	10	“	"	PUNCT
aiti-4139	565	11	a	a	DET
aiti-4139	565	12	design	design	NOUN
aiti-4139	565	13	method	method	NOUN
aiti-4139	565	14	of	of	ADP
aiti-4139	565	15	adaptive	adaptive	ADJ
aiti-4139	565	16	control	control	NOUN
aiti-4139	565	17	systems	system	NOUN
aiti-4139	565	18	by	by	ADP
aiti-4139	565	19	a	a	DET
aiti-4139	565	20	time	time	NOUN
aiti-4139	565	21	-	-	PUNCT
aiti-4139	565	22	varying	vary	VERB
aiti-4139	565	23	parameter	parameter	NOUN
aiti-4139	565	24	of	of	ADP
aiti-4139	565	25	robust	robust	ADJ
aiti-4139	565	26	stabilizing	stabilizing	NOUN
aiti-4139	565	27	state	state	NOUN
aiti-4139	565	28	feedback	feedback	NOUN
aiti-4139	565	29	,	,	PUNCT
aiti-4139	565	30	”	"	PUNCT
aiti-4139	565	31	tran	tran	PROPN
aiti-4139	565	32	.	.	PUNCT
aiti-4139	565	33	iscie	iscie	PROPN
aiti-4139	565	34	,	,	PUNCT
aiti-4139	565	35	vol	vol	NOUN
aiti-4139	565	36	.	.	PROPN
aiti-4139	565	37	12	12	NUM
aiti-4139	565	38	,	,	PUNCT
aiti-4139	565	39	no	no	INTJ
aiti-4139	565	40	.	.	NOUN
aiti-4139	565	41	6	6	NUM
aiti-4139	565	42	,	,	PUNCT
aiti-4139	565	43	pp	pp	ADJ
aiti-4139	565	44	.	.	PUNCT
aiti-4139	566	1	319	319	NUM
aiti-4139	566	2	-	-	SYM
aiti-4139	566	3	325	325	NUM
aiti-4139	566	4	,	,	PUNCT
aiti-4139	566	5	may	may	PROPN
aiti-4139	566	6	1999	1999	NUM
aiti-4139	566	7	.	.	PUNCT
aiti-4139	567	1	(	(	PUNCT
aiti-4139	567	2	in	in	ADP
aiti-4139	567	3	japanese	japanese	PROPN
aiti-4139	567	4	)	)	PUNCT
aiti-4139	568	1	[	[	X
aiti-4139	568	2	10	10	NUM
aiti-4139	568	3	]	]	PUNCT
aiti-4139	568	4	m.	m.	NOUN
aiti-4139	568	5	maki	maki	NOUN
aiti-4139	568	6	and	and	CCONJ
aiti-4139	568	7	k.	k.	PROPN
aiti-4139	568	8	hagino	hagino	PROPN
aiti-4139	568	9	,	,	PUNCT
aiti-4139	568	10	“	"	PUNCT
aiti-4139	568	11	robust	robust	ADJ
aiti-4139	568	12	control	control	NOUN
aiti-4139	568	13	with	with	ADP
aiti-4139	568	14	adaptation	adaptation	NOUN
aiti-4139	568	15	mechanism	mechanism	NOUN
aiti-4139	568	16	for	for	ADP
aiti-4139	568	17	improving	improve	VERB
aiti-4139	568	18	transient	transient	ADJ
aiti-4139	568	19	behavior	behavior	NOUN
aiti-4139	568	20	,	,	PUNCT
aiti-4139	568	21	”	"	PUNCT
aiti-4139	568	22	int	int	NOUN
aiti-4139	568	23	.	.	PUNCT
aiti-4139	569	1	j.	j.	PROPN
aiti-4139	569	2	contr	contr	PROPN
aiti-4139	569	3	.	.	PROPN
aiti-4139	569	4	,	,	PUNCT
aiti-4139	569	5	vol	vol	NOUN
aiti-4139	569	6	.	.	PROPN
aiti-4139	569	7	72	72	NUM
aiti-4139	569	8	,	,	PUNCT
aiti-4139	569	9	no	no	INTJ
aiti-4139	569	10	.	.	NOUN
aiti-4139	569	11	13	13	NUM
aiti-4139	569	12	,	,	PUNCT
aiti-4139	569	13	pp	pp	ADJ
aiti-4139	569	14	.	.	PUNCT
aiti-4139	570	1	1218	1218	NUM
aiti-4139	570	2	-	-	SYM
aiti-4139	570	3	1226	1226	NUM
aiti-4139	570	4	,	,	PUNCT
aiti-4139	570	5	november	november	PROPN
aiti-4139	570	6	1999	1999	NUM
aiti-4139	570	7	.	.	PUNCT
aiti-4139	571	1	[	[	X
aiti-4139	571	2	11	11	NUM
aiti-4139	571	3	]	]	X
aiti-4139	571	4	h.	h.	PROPN
aiti-4139	571	5	oya	oya	PROPN
aiti-4139	571	6	and	and	CCONJ
aiti-4139	571	7	k.	k.	PROPN
aiti-4139	571	8	hagino	hagino	PROPN
aiti-4139	571	9	,	,	PUNCT
aiti-4139	571	10	“	"	PUNCT
aiti-4139	571	11	robust	robust	ADJ
aiti-4139	571	12	control	control	NOUN
aiti-4139	571	13	with	with	ADP
aiti-4139	571	14	adaptive	adaptive	ADJ
aiti-4139	571	15	compensation	compensation	NOUN
aiti-4139	571	16	input	input	NOUN
aiti-4139	571	17	for	for	ADP
aiti-4139	571	18	linear	linear	ADJ
aiti-4139	571	19	uncertain	uncertain	ADJ
aiti-4139	571	20	systems	system	NOUN
aiti-4139	571	21	,	,	PUNCT
aiti-4139	571	22	”	"	PUNCT
aiti-4139	571	23	ieice	ieice	NOUN
aiti-4139	571	24	trans	tran	NOUN
aiti-4139	571	25	.	.	PUNCT
aiti-4139	572	1	fundamental	fundamental	ADJ
aiti-4139	572	2	,	,	PUNCT
aiti-4139	572	3	of	of	ADP
aiti-4139	572	4	electronics	electronic	NOUN
aiti-4139	572	5	,	,	PUNCT
aiti-4139	572	6	communications	communication	NOUN
aiti-4139	572	7	and	and	CCONJ
aiti-4139	572	8	computer	computer	NOUN
aiti-4139	572	9	sciences	science	NOUN
aiti-4139	572	10	,	,	PUNCT
aiti-4139	572	11	vol	vol	NOUN
aiti-4139	572	12	.	.	PUNCT
aiti-4139	573	1	e86	e86	NOUN
aiti-4139	573	2	-	-	PUNCT
aiti-4139	573	3	a	a	NOUN
aiti-4139	573	4	,	,	PUNCT
aiti-4139	573	5	no	no	INTJ
aiti-4139	573	6	.	.	NOUN
aiti-4139	573	7	6	6	NUM
aiti-4139	573	8	,	,	PUNCT
aiti-4139	573	9	pp	pp	ADJ
aiti-4139	573	10	.	.	PUNCT
aiti-4139	574	1	1517	1517	NUM
aiti-4139	574	2	-	-	SYM
aiti-4139	574	3	1524	1524	NUM
aiti-4139	574	4	,	,	PUNCT
aiti-4139	574	5	june	june	PROPN
aiti-4139	574	6	2003	2003	NUM
aiti-4139	574	7	.	.	PUNCT
aiti-4139	575	1	[	[	X
aiti-4139	575	2	12	12	NUM
aiti-4139	575	3	]	]	X
aiti-4139	575	4	d.	d.	PROPN
aiti-4139	575	5	d.	d.	PROPN
aiti-4139	575	6	siljak	siljak	PROPN
aiti-4139	575	7	,	,	PUNCT
aiti-4139	575	8	decentralized	decentralized	ADJ
aiti-4139	575	9	control	control	NOUN
aiti-4139	575	10	of	of	ADP
aiti-4139	575	11	complex	complex	ADJ
aiti-4139	575	12	systems	system	NOUN
aiti-4139	575	13	,	,	PUNCT
aiti-4139	575	14	new	new	PROPN
aiti-4139	575	15	york	york	PROPN
aiti-4139	575	16	,	,	PUNCT
aiti-4139	575	17	academic	academic	ADJ
aiti-4139	575	18	press	press	NOUN
aiti-4139	575	19	.	.	PUNCT
aiti-4139	575	20	,	,	PUNCT
aiti-4139	575	21	1991	1991	NUM
aiti-4139	575	22	.	.	PUNCT
aiti-4139	576	1	[	[	X
aiti-4139	576	2	13	13	NUM
aiti-4139	576	3	]	]	X
aiti-4139	576	4	r.	r.	PROPN
aiti-4139	576	5	olfati	olfati	PROPN
aiti-4139	576	6	-	-	PUNCT
aiti-4139	576	7	saber	saber	NOUN
aiti-4139	576	8	and	and	CCONJ
aiti-4139	576	9	r.	r.	PROPN
aiti-4139	576	10	m.	m.	PROPN
aiti-4139	576	11	murray	murray	PROPN
aiti-4139	576	12	,	,	PUNCT
aiti-4139	576	13	“	"	PUNCT
aiti-4139	576	14	consensus	consensus	NOUN
aiti-4139	576	15	problems	problem	NOUN
aiti-4139	576	16	in	in	ADP
aiti-4139	576	17	networks	network	NOUN
aiti-4139	576	18	of	of	ADP
aiti-4139	576	19	agents	agent	NOUN
aiti-4139	576	20	with	with	ADP
aiti-4139	576	21	switching	switch	VERB
aiti-4139	576	22	topology	topology	NOUN
aiti-4139	576	23	and	and	CCONJ
aiti-4139	576	24	timedelays	timedelay	NOUN
aiti-4139	576	25	,	,	PUNCT
aiti-4139	576	26	”	"	PUNCT
aiti-4139	576	27	ieee	ieee	NOUN
aiti-4139	576	28	trans	tran	NOUN
aiti-4139	576	29	.	.	PUNCT
aiti-4139	577	1	on	on	ADP
aiti-4139	577	2	automat	automat	PROPN
aiti-4139	577	3	.	.	PUNCT
aiti-4139	577	4	contr	contr	PROPN
aiti-4139	577	5	.	.	PUNCT
aiti-4139	577	6	,	,	PUNCT
aiti-4139	577	7	vol	vol	NOUN
aiti-4139	577	8	.	.	PROPN
aiti-4139	577	9	49	49	NUM
aiti-4139	577	10	,	,	PUNCT
aiti-4139	577	11	no	no	INTJ
aiti-4139	577	12	.	.	NOUN
aiti-4139	577	13	9	9	NUM
aiti-4139	577	14	,	,	PUNCT
aiti-4139	577	15	pp	pp	ADJ
aiti-4139	577	16	.	.	PUNCT
aiti-4139	577	17	1520	1520	NUM
aiti-4139	577	18	-	-	SYM
aiti-4139	577	19	1533	1533	NUM
aiti-4139	577	20	,	,	PUNCT
aiti-4139	577	21	september	september	PROPN
aiti-4139	577	22	2004	2004	NUM
aiti-4139	577	23	.	.	PUNCT
aiti-4139	578	1	[	[	X
aiti-4139	578	2	14	14	NUM
aiti-4139	578	3	]	]	X
aiti-4139	578	4	g.	g.	PROPN
aiti-4139	578	5	xie	xie	PROPN
aiti-4139	578	6	and	and	CCONJ
aiti-4139	578	7	l.	l.	PROPN
aiti-4139	578	8	wang	wang	PROPN
aiti-4139	578	9	,	,	PUNCT
aiti-4139	578	10	“	"	PUNCT
aiti-4139	578	11	consensus	consensus	NOUN
aiti-4139	578	12	control	control	NOUN
aiti-4139	578	13	for	for	ADP
aiti-4139	578	14	a	a	DET
aiti-4139	578	15	class	class	NOUN
aiti-4139	578	16	of	of	ADP
aiti-4139	578	17	networks	network	NOUN
aiti-4139	578	18	of	of	ADP
aiti-4139	578	19	dynamic	dynamic	ADJ
aiti-4139	578	20	agents	agent	NOUN
aiti-4139	578	21	:	:	PUNCT
aiti-4139	578	22	fixed	fix	VERB
aiti-4139	578	23	topology	topology	NOUN
aiti-4139	578	24	,	,	PUNCT
aiti-4139	578	25	”	"	PUNCT
aiti-4139	578	26	proc	proc	NOUN
aiti-4139	578	27	.	.	PUNCT
aiti-4139	579	1	of	of	ADP
aiti-4139	579	2	the	the	DET
aiti-4139	579	3	44th	44th	ADJ
aiti-4139	579	4	ieee	ieee	NOUN
aiti-4139	579	5	conference	conference	NOUN
aiti-4139	579	6	on	on	ADP
aiti-4139	579	7	decision	decision	NOUN
aiti-4139	579	8	and	and	CCONJ
aiti-4139	579	9	control	control	NOUN
aiti-4139	579	10	,	,	PUNCT
aiti-4139	579	11	and	and	CCONJ
aiti-4139	579	12	the	the	DET
aiti-4139	579	13	european	european	PROPN
aiti-4139	579	14	control	control	PROPN
aiti-4139	579	15	conference	conference	PROPN
aiti-4139	579	16	2005	2005	NUM
aiti-4139	579	17	,	,	PUNCT
aiti-4139	579	18	pp.96	pp.96	NOUN
aiti-4139	579	19	-	-	SYM
aiti-4139	579	20	101	101	NUM
aiti-4139	579	21	,	,	PUNCT
aiti-4139	579	22	seville	seville	NOUN
aiti-4139	579	23	,	,	PUNCT
aiti-4139	579	24	spain	spain	PROPN
aiti-4139	579	25	,	,	PUNCT
aiti-4139	579	26	december	december	PROPN
aiti-4139	579	27	2005	2005	NUM
aiti-4139	579	28	.	.	PUNCT
aiti-4139	580	1	[	[	X
aiti-4139	580	2	15	15	NUM
aiti-4139	580	3	]	]	X
aiti-4139	580	4	y.	y.	PROPN
aiti-4139	580	5	zhang	zhang	PROPN
aiti-4139	580	6	and	and	CCONJ
aiti-4139	580	7	y.	y.	PROPN
aiti-4139	580	8	p.	p.	PROPN
aiti-4139	580	9	tian	tian	PROPN
aiti-4139	580	10	,	,	PUNCT
aiti-4139	580	11	“	"	PUNCT
aiti-4139	580	12	consentability	consentability	NOUN
aiti-4139	580	13	and	and	CCONJ
aiti-4139	580	14	protocol	protocol	NOUN
aiti-4139	580	15	design	design	NOUN
aiti-4139	580	16	of	of	ADP
aiti-4139	580	17	multiagent	multiagent	NOUN
aiti-4139	580	18	systems	system	NOUN
aiti-4139	580	19	with	with	ADP
aiti-4139	580	20	stochastic	stochastic	ADJ
aiti-4139	580	21	switching	switching	NOUN
aiti-4139	580	22	topology	topology	NOUN
aiti-4139	580	23	,	,	PUNCT
aiti-4139	580	24	”	"	PUNCT
aiti-4139	580	25	automatica	automatica	PROPN
aiti-4139	580	26	,	,	PUNCT
aiti-4139	580	27	vol	vol	NOUN
aiti-4139	580	28	.	.	PROPN
aiti-4139	581	1	45	45	NUM
aiti-4139	581	2	,	,	PUNCT
aiti-4139	581	3	no	no	INTJ
aiti-4139	581	4	.	.	NOUN
aiti-4139	581	5	5	5	NUM
aiti-4139	581	6	,	,	PUNCT
aiti-4139	581	7	pp	pp	ADJ
aiti-4139	581	8	.	.	PUNCT
aiti-4139	582	1	1195	1195	NUM
aiti-4139	582	2	-	-	SYM
aiti-4139	582	3	1201	1201	NUM
aiti-4139	582	4	,	,	PUNCT
aiti-4139	582	5	may	may	PROPN
aiti-4139	582	6	2009	2009	NUM
aiti-4139	582	7	.	.	PUNCT
aiti-4139	583	1	[	[	X
aiti-4139	583	2	16	16	NUM
aiti-4139	583	3	]	]	X
aiti-4139	583	4	g.	g.	PROPN
aiti-4139	583	5	zhai	zhai	PROPN
aiti-4139	583	6	,	,	PUNCT
aiti-4139	583	7	s.	s.	PROPN
aiti-4139	583	8	okuno	okuno	PROPN
aiti-4139	583	9	,	,	PUNCT
aiti-4139	583	10	j.	j.	PROPN
aiti-4139	583	11	imae	imae	PROPN
aiti-4139	583	12	and	and	CCONJ
aiti-4139	583	13	t.	t.	PROPN
aiti-4139	583	14	kobayashi	kobayashi	PROPN
aiti-4139	583	15	,	,	PUNCT
aiti-4139	583	16	“	"	PUNCT
aiti-4139	583	17	a	a	DET
aiti-4139	583	18	matrix	matrix	NOUN
aiti-4139	583	19	inequality	inequality	NOUN
aiti-4139	583	20	based	base	VERB
aiti-4139	583	21	design	design	NOUN
aiti-4139	583	22	method	method	NOUN
aiti-4139	583	23	for	for	ADP
aiti-4139	583	24	consensus	consensus	NOUN
aiti-4139	583	25	problems	problem	NOUN
aiti-4139	583	26	in	in	ADP
aiti-4139	583	27	multi	multi	ADJ
aiti-4139	583	28	-	-	ADJ
aiti-4139	583	29	agent	agent	ADJ
aiti-4139	583	30	systems	system	NOUN
aiti-4139	583	31	,	,	PUNCT
aiti-4139	583	32	''	''	PUNCT
aiti-4139	583	33	int	int	NOUN
aiti-4139	583	34	.	.	PUNCT
aiti-4139	584	1	j.	j.	PROPN
aiti-4139	584	2	appl	appl	PROPN
aiti-4139	584	3	.	.	PROPN
aiti-4139	584	4	math	math	PROPN
aiti-4139	584	5	.	.	PUNCT
aiti-4139	585	1	comput	comput	NOUN
aiti-4139	585	2	.	.	PUNCT
aiti-4139	586	1	sci	sci	PROPN
aiti-4139	586	2	.	.	PROPN
aiti-4139	586	3	,	,	PUNCT
aiti-4139	586	4	vol	vol	NOUN
aiti-4139	586	5	.	.	PROPN
aiti-4139	586	6	19	19	NUM
aiti-4139	586	7	,	,	PUNCT
aiti-4139	586	8	no	no	INTJ
aiti-4139	586	9	.	.	NOUN
aiti-4139	586	10	4	4	NUM
aiti-4139	586	11	,	,	PUNCT
aiti-4139	586	12	pp	pp	ADJ
aiti-4139	586	13	.	.	PUNCT
aiti-4139	587	1	639	639	NUM
aiti-4139	587	2	-	-	SYM
aiti-4139	587	3	646	646	NUM
aiti-4139	587	4	,	,	PUNCT
aiti-4139	587	5	april	april	PROPN
aiti-4139	587	6	2009	2009	NUM
aiti-4139	587	7	.	.	PUNCT
aiti-4139	588	1	[	[	X
aiti-4139	588	2	17	17	NUM
aiti-4139	588	3	]	]	X
aiti-4139	588	4	w.ni	w.ni	ADJ
aiti-4139	588	5	,	,	PUNCT
aiti-4139	588	6	and	and	CCONJ
aiti-4139	588	7	d.cheng	d.cheng	PROPN
aiti-4139	588	8	,	,	PUNCT
aiti-4139	588	9	“	"	PUNCT
aiti-4139	588	10	leader	leader	NOUN
aiti-4139	588	11	-	-	PUNCT
aiti-4139	588	12	following	follow	VERB
aiti-4139	588	13	consensus	consensus	NOUN
aiti-4139	588	14	of	of	ADP
aiti-4139	588	15	multi	multi	ADJ
aiti-4139	588	16	-	-	ADJ
aiti-4139	588	17	agent	agent	ADJ
aiti-4139	588	18	systems	system	NOUN
aiti-4139	588	19	under	under	ADP
aiti-4139	588	20	fixed	fix	VERB
aiti-4139	588	21	and	and	CCONJ
aiti-4139	588	22	switching	switch	VERB
aiti-4139	588	23	topologies	topology	NOUN
aiti-4139	588	24	,	,	PUNCT
aiti-4139	588	25	”	"	PUNCT
aiti-4139	588	26	systems	system	NOUN
aiti-4139	588	27	&	&	CCONJ
aiti-4139	588	28	control	control	PROPN
aiti-4139	588	29	letters	letter	NOUN
aiti-4139	588	30	,	,	PUNCT
aiti-4139	588	31	vol.59	vol.59	NOUN
aiti-4139	588	32	,	,	PUNCT
aiti-4139	588	33	issues.3	issues.3	NOUN
aiti-4139	588	34	-	-	PUNCT
aiti-4139	588	35	4	4	NUM
aiti-4139	588	36	,	,	PUNCT
aiti-4139	588	37	pp.209	pp.209	VERB
aiti-4139	588	38	-	-	PUNCT
aiti-4139	588	39	217	217	NUM
aiti-4139	588	40	,	,	PUNCT
aiti-4139	588	41	march	march	PROPN
aiti-4139	588	42	-	-	PUNCT
aiti-4139	588	43	april	april	PROPN
aiti-4139	588	44	2010	2010	NUM
aiti-4139	588	45	.	.	PUNCT
aiti-4139	589	1	[	[	X
aiti-4139	589	2	18	18	NUM
aiti-4139	589	3	]	]	SYM
aiti-4139	589	4	d.zhang	d.zhang	PROPN
aiti-4139	589	5	,	,	PUNCT
aiti-4139	589	6	z.xu	z.xu	PROPN
aiti-4139	589	7	,	,	PUNCT
aiti-4139	589	8	q.g.wang	q.g.wang	NOUN
aiti-4139	589	9	,	,	PUNCT
aiti-4139	589	10	and	and	CCONJ
aiti-4139	589	11	y.b.zhao	y.b.zhao	ADJ
aiti-4139	589	12	,	,	PUNCT
aiti-4139	589	13	“	"	PUNCT
aiti-4139	589	14	leader	leader	NOUN
aiti-4139	589	15	–	–	PUNCT
aiti-4139	589	16	follower	follower	NOUN
aiti-4139	589	17	h_∞	h_∞	PROPN
aiti-4139	589	18	consensus	consensus	NOUN
aiti-4139	589	19	of	of	ADP
aiti-4139	589	20	linear	linear	PROPN
aiti-4139	589	21	multi	multi	ADJ
aiti-4139	589	22	-	-	ADJ
aiti-4139	589	23	agent	agent	ADJ
aiti-4139	589	24	systems	system	NOUN
aiti-4139	589	25	with	with	ADP
aiti-4139	589	26	aperiodic	aperiodic	ADJ
aiti-4139	589	27	sampling	sampling	NOUN
aiti-4139	589	28	and	and	CCONJ
aiti-4139	589	29	switching	switch	VERB
aiti-4139	589	30	connected	connected	ADJ
aiti-4139	589	31	topologies	topology	NOUN
aiti-4139	589	32	,	,	PUNCT
aiti-4139	589	33	”	"	PUNCT
aiti-4139	589	34	isa	isa	NOUN
aiti-4139	589	35	transactions	transaction	NOUN
aiti-4139	589	36	,	,	PUNCT
aiti-4139	589	37	vol.68	vol.68	NOUN
aiti-4139	589	38	,	,	PUNCT
aiti-4139	589	39	pp.150	pp.150	NOUN
aiti-4139	589	40	-	-	PUNCT
aiti-4139	589	41	159	159	NUM
aiti-4139	589	42	,	,	PUNCT
aiti-4139	589	43	may	may	AUX
aiti-4139	589	44	2017	2017	NUM
aiti-4139	589	45	[	[	SYM
aiti-4139	589	46	19	19	NUM
aiti-4139	589	47	]	]	X
aiti-4139	589	48	w.he	w.he	NOUN
aiti-4139	589	49	,	,	PUNCT
aiti-4139	589	50	c.xu	c.xu	ADJ
aiti-4139	589	51	,	,	PUNCT
aiti-4139	589	52	q.han	q.han	INTJ
aiti-4139	589	53	,	,	PUNCT
aiti-4139	589	54	f.qian	f.qian	ADJ
aiti-4139	589	55	,	,	PUNCT
aiti-4139	589	56	and	and	CCONJ
aiti-4139	589	57	z.lang	z.lang	X
aiti-4139	589	58	,	,	PUNCT
aiti-4139	589	59	“	"	PUNCT
aiti-4139	589	60	finite	finite	ADJ
aiti-4139	589	61	-	-	PUNCT
aiti-4139	589	62	time	time	NOUN
aiti-4139	589	63	l_2	l_2	NOUN
aiti-4139	589	64	leader	leader	NOUN
aiti-4139	589	65	–	–	PUNCT
aiti-4139	589	66	follower	follower	NOUN
aiti-4139	589	67	consensus	consensus	NOUN
aiti-4139	589	68	of	of	ADP
aiti-4139	589	69	networked	networked	ADJ
aiti-4139	589	70	euler	euler	PROPN
aiti-4139	589	71	–	–	PUNCT
aiti-4139	589	72	lagrange	lagrange	NOUN
aiti-4139	589	73	systems	system	NOUN
aiti-4139	589	74	with	with	ADP
aiti-4139	589	75	external	external	ADJ
aiti-4139	589	76	disturbances	disturbance	NOUN
aiti-4139	589	77	,	,	PUNCT
aiti-4139	589	78	”	"	PUNCT
aiti-4139	589	79	ieee	ieee	NOUN
aiti-4139	589	80	transactions	transaction	NOUN
aiti-4139	589	81	on	on	ADP
aiti-4139	589	82	systems	system	NOUN
aiti-4139	589	83	,	,	PUNCT
aiti-4139	589	84	man	man	NOUN
aiti-4139	589	85	,	,	PUNCT
aiti-4139	589	86	and	and	CCONJ
aiti-4139	589	87	cybernetics	cybernetic	NOUN
aiti-4139	589	88	:	:	PUNCT
aiti-4139	589	89	systems	system	NOUN
aiti-4139	589	90	,	,	PUNCT
aiti-4139	589	91	vol.48	vol.48	PROPN
aiti-4139	589	92	issue	issue	NOUN
aiti-4139	589	93	11	11	NUM
aiti-4139	589	94	,	,	PUNCT
aiti-4139	589	95	pp.1920	pp.1920	PROPN
aiti-4139	589	96	–	–	PUNCT
aiti-4139	589	97	1928	1928	NUM
aiti-4139	589	98	,	,	PUNCT
aiti-4139	589	99	november	november	PROPN
aiti-4139	589	100	2018	2018	NUM
aiti-4139	589	101	.	.	PUNCT
aiti-4139	590	1	[	[	X
aiti-4139	590	2	20	20	NUM
aiti-4139	590	3	]	]	PUNCT
aiti-4139	590	4	t.	t.	PROPN
aiti-4139	590	5	namerikawa	namerikawa	PROPN
aiti-4139	590	6	,	,	PUNCT
aiti-4139	590	7	“	"	PUNCT
aiti-4139	590	8	control	control	VERB
aiti-4139	590	9	theoretical	theoretical	ADJ
aiti-4139	590	10	approach	approach	NOUN
aiti-4139	590	11	to	to	ADP
aiti-4139	590	12	multi	multi	ADJ
aiti-4139	590	13	-	-	ADJ
aiti-4139	590	14	agent	agent	ADJ
aiti-4139	590	15	problems	problem	NOUN
aiti-4139	590	16	,	,	PUNCT
aiti-4139	590	17	”	"	PUNCT
aiti-4139	590	18	institute	institute	NOUN
aiti-4139	590	19	of	of	ADP
aiti-4139	590	20	electronics	electronic	NOUN
aiti-4139	590	21	,	,	PUNCT
aiti-4139	590	22	information	information	NOUN
aiti-4139	590	23	,	,	PUNCT
aiti-4139	590	24	and	and	CCONJ
aiti-4139	590	25	communication	communication	NOUN
aiti-4139	590	26	engineers	engineer	NOUN
aiti-4139	590	27	,	,	PUNCT
aiti-4139	590	28	ieice	ieice	NOUN
aiti-4139	590	29	technical	technical	ADJ
aiti-4139	590	30	report	report	NOUN
aiti-4139	590	31	nc2008	nc2008	NOUN
aiti-4139	590	32	-	-	PUNCT
aiti-4139	590	33	1	1	NUM
aiti-4139	590	34	,	,	PUNCT
aiti-4139	590	35	may	may	AUX
aiti-4139	590	36	16	16	NUM
aiti-4139	590	37	,	,	PUNCT
aiti-4139	590	38	2008	2008	NUM
aiti-4139	590	39	.	.	PUNCT
aiti-4139	591	1	(	(	PUNCT
aiti-4139	591	2	in	in	ADP
aiti-4139	591	3	japanese	japanese	ADJ
aiti-4139	591	4	)	)	PUNCT
aiti-4139	591	5	advances	advance	NOUN
aiti-4139	591	6	technology	technology	NOUN
aiti-4139	591	7	innovation	innovation	NOUN
aiti-4139	591	8	,	,	PUNCT
aiti-4139	591	9	vol	vol	NOUN
aiti-4139	591	10	.	.	PROPN
aiti-4139	591	11	4	4	NUM
aiti-4139	591	12	,	,	PUNCT
aiti-4139	591	13	no	no	INTJ
aiti-4139	591	14	.	.	NOUN
aiti-4139	591	15	4	4	NUM
aiti-4139	591	16	,	,	PUNCT
aiti-4139	591	17	2019	2019	NUM
aiti-4139	591	18	,	,	PUNCT
aiti-4139	591	19	pp	pp	ADJ
aiti-4139	591	20	.	.	PUNCT
aiti-4139	592	1	234	234	NUM
aiti-4139	592	2	-	-	SYM
aiti-4139	592	3	246	246	NUM
aiti-4139	592	4	246	246	NUM
aiti-4139	593	1	[	[	PUNCT
aiti-4139	593	2	21	21	NUM
aiti-4139	593	3	]	]	PUNCT
aiti-4139	593	4	s.	s.	PROPN
aiti-4139	593	5	nagai	nagai	PROPN
aiti-4139	593	6	,	,	PUNCT
aiti-4139	593	7	h.	h.	PROPN
aiti-4139	593	8	oya	oya	PROPN
aiti-4139	593	9	,	,	PUNCT
aiti-4139	593	10	t.	t.	PROPN
aiti-4139	593	11	kubo	kubo	PROPN
aiti-4139	593	12	,	,	PUNCT
aiti-4139	593	13	and	and	CCONJ
aiti-4139	593	14	t.	t.	PROPN
aiti-4139	593	15	matsuki	matsuki	NOUN
aiti-4139	593	16	,	,	PUNCT
aiti-4139	593	17	“	"	PUNCT
aiti-4139	593	18	synthesis	synthesis	NOUN
aiti-4139	593	19	of	of	ADP
aiti-4139	593	20	decentralized	decentralize	VERB
aiti-4139	593	21	variable	variable	ADJ
aiti-4139	593	22	gain	gain	VERB
aiti-4139	593	23	robust	robust	ADJ
aiti-4139	593	24	controllers	controller	NOUN
aiti-4139	593	25	for	for	ADP
aiti-4139	593	26	a	a	DET
aiti-4139	593	27	class	class	NOUN
aiti-4139	593	28	of	of	ADP
aiti-4139	593	29	large	large	ADJ
aiti-4139	593	30	-	-	PUNCT
aiti-4139	593	31	scale	scale	NOUN
aiti-4139	593	32	interconnected	interconnected	ADJ
aiti-4139	593	33	systems	system	NOUN
aiti-4139	593	34	with	with	ADP
aiti-4139	593	35	mismatched	mismatched	ADJ
aiti-4139	593	36	uncertainties	uncertainty	NOUN
aiti-4139	593	37	,	,	PUNCT
aiti-4139	593	38	”	"	PUNCT
aiti-4139	593	39	int	int	NOUN
aiti-4139	593	40	.	.	PUNCT
aiti-4139	594	1	j.	j.	PROPN
aiti-4139	594	2	syst	syst	PROPN
aiti-4139	594	3	.	.	PUNCT
aiti-4139	595	1	science	science	NOUN
aiti-4139	595	2	,	,	PUNCT
aiti-4139	595	3	vol	vol	NOUN
aiti-4139	595	4	.	.	PROPN
aiti-4139	595	5	48	48	NUM
aiti-4139	595	6	,	,	PUNCT
aiti-4139	595	7	issue	issue	NOUN
aiti-4139	595	8	8	8	NUM
aiti-4139	595	9	,	,	PUNCT
aiti-4139	595	10	pp	pp	ADJ
aiti-4139	595	11	.	.	PUNCT
aiti-4139	595	12	1616	1616	NUM
aiti-4139	595	13	-	-	SYM
aiti-4139	595	14	1623	1623	NUM
aiti-4139	595	15	,	,	PUNCT
aiti-4139	595	16	july	july	PROPN
aiti-4139	595	17	2017	2017	NUM
aiti-4139	595	18	.	.	PUNCT
aiti-4139	596	1	[	[	X
aiti-4139	596	2	22	22	NUM
aiti-4139	596	3	]	]	X
aiti-4139	596	4	c.	c.	PROPN
aiti-4139	596	5	yoshioka	yoshioka	PROPN
aiti-4139	596	6	,	,	PUNCT
aiti-4139	596	7	t.	t.	PROPN
aiti-4139	596	8	namerikawa	namerikawa	PROPN
aiti-4139	596	9	,	,	PUNCT
aiti-4139	596	10	”	"	PUNCT
aiti-4139	596	11	consensus	consensus	NOUN
aiti-4139	596	12	problem	problem	NOUN
aiti-4139	596	13	for	for	ADP
aiti-4139	596	14	multi	multi	ADJ
aiti-4139	596	15	-	-	ADJ
aiti-4139	596	16	agent	agent	ADJ
aiti-4139	596	17	system	system	NOUN
aiti-4139	596	18	and	and	CCONJ
aiti-4139	596	19	its	its	PRON
aiti-4139	596	20	application	application	NOUN
aiti-4139	596	21	to	to	PART
aiti-4139	596	22	formation	formation	NOUN
aiti-4139	596	23	control	control	NOUN
aiti-4139	596	24	,	,	PUNCT
aiti-4139	596	25	”	"	PUNCT
aiti-4139	596	26	transaction	transaction	NOUN
aiti-4139	596	27	of	of	ADP
aiti-4139	596	28	the	the	DET
aiti-4139	596	29	society	society	NOUN
aiti-4139	596	30	of	of	ADP
aiti-4139	596	31	instrument	instrument	NOUN
aiti-4139	596	32	and	and	CCONJ
aiti-4139	596	33	control	control	NOUN
aiti-4139	596	34	engineers	engineer	NOUN
aiti-4139	596	35	,	,	PUNCT
aiti-4139	596	36	vol	vol	NOUN
aiti-4139	596	37	.	.	PROPN
aiti-4139	596	38	44	44	NUM
aiti-4139	596	39	,	,	PUNCT
aiti-4139	596	40	no	no	INTJ
aiti-4139	596	41	.	.	NOUN
aiti-4139	596	42	8	8	NUM
aiti-4139	596	43	,	,	PUNCT
aiti-4139	596	44	pp	pp	ADJ
aiti-4139	596	45	.	.	PUNCT
aiti-4139	597	1	663	663	NUM
aiti-4139	597	2	-	-	SYM
aiti-4139	597	3	669	669	NUM
aiti-4139	597	4	,	,	PUNCT
aiti-4139	597	5	august	august	PROPN
aiti-4139	597	6	2008	2008	NUM
aiti-4139	597	7	.	.	PUNCT
aiti-4139	598	1	(	(	PUNCT
aiti-4139	598	2	in	in	ADP
aiti-4139	598	3	japanese	japanese	ADJ
aiti-4139	598	4	)	)	PUNCT
aiti-4139	598	5	copyright	copyright	NOUN
aiti-4139	598	6	©	©	PROPN
aiti-4139	598	7	by	by	ADP
aiti-4139	598	8	the	the	DET
aiti-4139	598	9	authors	author	NOUN
aiti-4139	598	10	.	.	PUNCT
aiti-4139	599	1	licensee	licensee	PROPN
aiti-4139	599	2	taeti	taeti	PROPN
aiti-4139	599	3	,	,	PUNCT
aiti-4139	599	4	taiwan	taiwan	PROPN
aiti-4139	599	5	.	.	PUNCT
aiti-4139	600	1	this	this	DET
aiti-4139	600	2	article	article	NOUN
aiti-4139	600	3	is	be	AUX
aiti-4139	600	4	an	an	DET
aiti-4139	600	5	open	open	ADJ
aiti-4139	600	6	access	access	NOUN
aiti-4139	600	7	article	article	NOUN
aiti-4139	600	8	distributed	distribute	VERB
aiti-4139	600	9	under	under	ADP
aiti-4139	600	10	the	the	DET
aiti-4139	600	11	terms	term	NOUN
aiti-4139	600	12	and	and	CCONJ
aiti-4139	600	13	conditions	condition	NOUN
aiti-4139	600	14	of	of	ADP
aiti-4139	600	15	the	the	DET
aiti-4139	600	16	creative	creative	ADJ
aiti-4139	600	17	commons	common	NOUN
aiti-4139	600	18	attribution	attribution	NOUN
aiti-4139	600	19	(	(	PUNCT
aiti-4139	600	20	cc	cc	NOUN
aiti-4139	600	21	by	by	ADP
aiti-4139	600	22	-	-	PUNCT
aiti-4139	600	23	nc	nc	NOUN
aiti-4139	600	24	)	)	PUNCT
aiti-4139	600	25	license	license	NOUN
aiti-4139	600	26	(	(	PUNCT
aiti-4139	600	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-4139	600	28	)	)	PUNCT
aiti-4139	600	29	.	.	PUNCT